Download MR-MQ100 - Quick-Start Guide A

MITSUBISHI ELECTRIC
Servo / Motion
Programmable Controllers
Quick-Start Guide
Motion Controller
MR-MQ100
Art. No.:
20.04.2010
Version A
MITSUBISHI ELECTRIC
INDUSTRIAL AUTOMATION
Quick-Start Guide
Motion controller MR-MQ100
Art. no.:
A
Version
04/2010 pdp - rw
Revisions/Additions/Corrections
—
About This Manual
The texts, illustration, diagrams and examples in this manual are provided
for information purposes only. They are intended as aids to help explain the
installation, operation, programming and use of the
Mitsubishi motion controllers.
If you have any questions about the installation and operation of any of the
products described in this manual please contact your local sales office
or distributor (see back cover). You can find the latest information
and answers to frequently asked questions on our website at
www.mitsubishi-automation.com.
MITSUBISHI ELECTRIC EUROPE BV reserves the right to make changes
to this manual or the technical specifications of its products at any time without notice.
©2005
MITSUBISHI ELECTRIC EUROPE B.V.
Related Manuals
The following manuals are also related to this Quick-Start Guide. These can be obtained free of charge
from our website at www.mitsubishi-automation.com.
Servo amplifier
Motion controller
Device Manual Name
Manual Number/
Art. No.
MR-MQ100 Motion controller Users Manual
This manual describes the hardware specifications, the software specifications and handling methods
of the Motion controller.
IB-0300150
Q173DCPU/Q172DCPU Motion controller Programming Manual (COMMON)
This manual explains the Multiple CPU system configuration, performance specifications, common
parameters, auxiliary/applied functions, error lists and others.
IB-0300134
Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (Motion SFC)
This manual explains the functions, programming, debugging, error lists for Motion SFC and others.
IB-0300135
Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL MODE)
This manual explains the servo parameters, positioning instructions, device lists, error lists and others.
IB-0300136
Q173DCPU/Q172DCPU Motion controller (SV22) Programming Manual (VIRTUAL MODE)
This manual explains the dedicated instructions to use the synchronous control by virtual main shaft,
mechanical system program create mechanical module, servo parameters, positioning instructions,
device lists, error lists and others.
IB-0300137
Motion Controller Setup Guidance (for MR-MQ100)
(MT Developer2 Version 1)
This manual describes those items related to the setup of the motion controller programming software
MT Developer2 (for MR-MQ100).
IB-0300152
SSCNET III Compatible MR-J3-쏔B Servo amplifier Instruction Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for
MR-J3-쏔B Servo amplifier.
SH-030051
SSCNET III Compatible Linear Servo MR-J3-쏔B-RJ004 Servo amplifier Instruction Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Linear
Servo MR-J3-쏔B-RJ004 Servo amplifier.
SH-030054
SSCNET III Compatible Fully Closed Loop Control MR-J3-쏔B-RJ006 Servo amplifier Instruction Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Fully
Closed Loop Control MR-J3-쏔B-RJ006 Servo amplifier.
SH-030056
Safety Guidelines
Safety Guidelines
General safety information and precautions
For use by qualified staff only
This manual is only intended for use by properly trained and qualified electrical technicians who are
fully acquainted with the relevant automation technology safety standards. All work with the hardware described, including system design, installation, configuration, maintenance, service and testing of the equipment, may only be performed by trained electrical technicians with approved qualifications who are fully acquainted with all the applicable automation technology safety standards
and regulations. Any operations or modifications to the hardware and/or software of our products
not specifically described in this manual may only be performed by authorised MITSUBISHI ELECTRIC
staff.
Proper use of the products
The motion controller is only intended for the specific applications explicitly described in this manual.
All parameters and settings specified in this manual must be observed. The products described have
all been designed, manufactured, tested and documented in strict compliance with the relevant safety standards. Unqualified modification of the hardware or software or failure to observe the warnings
on the products and in this manual may result in serious personal injury and/or damage to property.
Only peripherals and expansion equipment specifically recommended and approved by
MITSUBISHI ELECTRIC may be used in combination with programmable controllers of MELSEC
System Q.
All and any other uses or application of the products shall be deemed to be improper.
Relevant safety regulations
All safety and accident prevention regulations relevant to your specific application must be observed
in the system design, installation, configuration, maintenance, servicing and testing of these products. The regulations listed below are particularly important in this regard.
This list does not claim to be complete, however; you are responsible for being familiar with and conforming to the regulations applicable to you in your location.
● VDE Standards
– VDE 0100
Regulations for the erection of power installations with rated voltages below 1000 V
– VDE 0105
Operation of power installations
– VDE 0113
Electrical installations with electronic equipment
– VDE 0160
Electronic equipment for use in power installations
– VDE 0550/0551
Regulations for transformers
– VDE 0700
Safety of electrical appliances for household use and similar applications
– VDE 0860
Safety regulations for mains-powered electronic appliances and their accessories for household use and similar applications.
Motion controller MR-MQ100
I
Safety Guidelines
● Fire safety regulations
● Accident prevention regulations
– VBG Nr.4
Electrical systems and equipment
Safety warnings in this manual
In this manual warnings that are relevant for safety are identified as follows:
m
b
II
DANGER:
Failure to observe the safety warnings identified with this symbol can result in health and injury
hazards for the user.
WARNING:
Failure to observe the safety warnings identified with this symbol can result in damage to the
equipment or other property.
Safety Guidelines
Specific safety information and precautions
The following safety precautions are intended as a general guideline for using PLC systems together
with other equipment. These precautions must always be observed in the design, installation and operation of all control systems.
m
DANGER:
● Observe all safety and accident prevention regulations applicable to your specific application. Always disconnect all power supplies before performing installation and wiring work
or opening any of the assemblies, components and devices.
● Assemblies, components and devices must always be installed in a shockproof housing fitted
with a proper cover and fuses or circuit breakers.
● Devices with a permanent connection to the mains power supply must be integrated in the
building installations with an all-pole disconnection switch and a suitable fuse.
● Check power cables and lines connected to the equipment regularly for breaks and insulation
damage. If cable damage is found immediately disconnect the equipment and the cables
from the power supply and replace the defective cabling.
● Before using the equipment for the first time check that the power supply rating matches that
of the local mains power.
● Take appropriate steps to ensure that cable damage or core breaks in the signal lines cannot
cause undefined states in the equipment.
● You are responsible for taking the necessary precautions to ensure that programs interrupted by brownouts and power failures can be restarted properly and safely. In particular, you
must ensure that dangerous conditions cannot occur under any circumstances, even for brief
periods.
● EMERGENCY OFF facilities conforming to EN 60204/IEC 204 and VDE 0113 must remain fully
operative at all times and in all PLC operating modes. The EMERGENCY OFF facility reset
function must be designed so that it cannot ever cause an uncontrolled or undefined restart.
● You must implement both hardware and software safety precautions to prevent the possibility of undefined control system states caused by signal line cable or core breaks.
● When using modules always ensure that all electrical and mechanical specifications and
requirements are observed exactly.
● Residual current protective devices pursuant to DIN VDE Standard 0641 Parts 1-3 are not
adequate on their own as protection against indirect contact for installations with PLC
systems. Additional and/or other protection facilities are essential for such installations.
● Do not install/remove the module onto/from base unit or terminal block more than 50 times,
after the first use of the product (conforming to IEC 61131-2). Failure to do so may cause the
module to malfunction due to poor contact of connector.
Motion controller MR-MQ100
III
Safety Guidelines
Precautions to prevent damages by electrostatic discharge
Electronic devices and modules can be damaged by electrostatic charge, which is conducted from the
human body to components of the controller. Always take the following precautions, when handling
the controller or other electronic devices:
b
WARNING:
● Before touching the controller or other electronic devices, always touch grounded metal, etc.
to discharge static electricity from human body.
● Wear isolating gloves when touching the powered controller or other electronic devices, e. g.
at maintenance during visual check.
● You shouldn’t wear clothing made of synthetic fibre at low humidity. This clothing gets a very
high rate of electrostatic charge.
IV
Screenshots and Software version
Screenshots and Software version
All screenshots in this manual were captured with versions of the programming software listed in section 4.2.1 running under Windows XP.
Slight modifications could occur in case of newer software versions.
Motion controller MR-MQ100
V
Typographic Conventions
Typographic Conventions
Use of notes
Notes containing important information are clearly identified as follows:
NOTE
Note text
Use of examples
Examples containing important information are clearly identified as follows:
Beispiel Example text
Numbering in figures and illustrations
Reference numbers in figures and illustrations are shown with white numbers in a black circle and the
corresponding explanations shown beneath the illustrations are identified with the same numbers,
like this:
Procedures
In some cases the setup, operation, maintenance and other instructions are explained with numbered procedures. The individual steps of these procedures are numbered in ascending order with
black numbers in a white circle, and they must be performed in the exact order shown:
Text.
Text.
Text.
Footnotes in tables
Footnote characters in tables are printed in superscript and the corresponding footnotes shown beneath the table are identified by the same characters, also in superscript.
If a table contains more than one footnote, they are all listed below the table and numbered in ascending order with black numbers in a white circle, like this:
VI
Text
Text
Text
Table of Contents
Table of Contents
1
Introduction
1.1
Features of MR-MQ100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.1.1
Components of the motion control system with MR-MQ100 . . . . . . . . . . . . . . . . . . . . 1-2
1.2
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.3
Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
2
Details of the module
2.1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1.1
2.1.2
2.1.3
2.1.4
2.1.5
Frontview, sideview and partnames. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
System configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
7-segment LED display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Rotary switch assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
3
Mounting and Wiring
3.1
Module mounting into cabinet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1.1
3.2
Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.2.1
3.2.2
3.2.3
3.3
Mounting of MR-MQ100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
Digital I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
SSCNET III connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3.3.1
3.3.2
3.3.3
SSCNET III cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
Connection between the MR-MQ100 and the servo amplifier . . . . . . . . . . . . . . . . . . . 3-8
Setting the axis No. and axis select switch of servo amplifier . . . . . . . . . . . . . . . . . . . . 3-9
4
Start-up and trial operation
4.1
Start-up procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.2
Software installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.2.1
4.2.2
4.2.3
Programming software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
Combination of software version and function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
Operating system (OS). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
5
Communication
5.1
Connection to peripheral devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.1.1
5.1.2
5.2
Direct connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
Hub Connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
Setting CPU name. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5.2.1
HUB connection setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
Motion controller MR-MQ100
VII
Table of Contents
5.3
MC Protocol Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
5.3.1
5.3.2
5.3.3
5.3.4
5.3.5
5.3.6
5.4
FX3U/FX3G Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21
5.4.1
5.4.2
5.4.3
Hardware Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21
Software Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22
PLC Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-24
6
Project creation
6.1
Sample project creation with MT Developer2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2
Additional procedures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
6.2.1
6.2.2
6.2.3
6.2.4
Project opening . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
Writing project to the Motion controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
Monitoring function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
Device monitoring and testing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13
7
Application Example for MR-MQ100
7.1
Flying Saw application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1.1
7.1.2
7.1.3
7.1.4
7.1.5
7.1.6
VIII
Topics of the MC Protokoll . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
Transmission of command messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
Command list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13
Available devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
Setting for MC protocol communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19
What is a Flying Saw? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
Machine parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
SFC Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
A
Appendix
A.1
Exterior Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
A.2
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
A.3
Internal devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
Features of MR-MQ100
1
Introduction
Introduction
This english document is the original instruction.
This start-up guidance is intended for those who use the MR-MQ100 Single Axis Motion Controller
(1.5 Axis Servo) for the first time. How to use programming tool MT Developer2 and MR Configurator
will be explained.
Refer to our MR-MQ100 manuals for further information.
(For manual numbers see preamble of this quick start guide.)
1.1
Features of MR-MQ100
The MR-MQ100 allows a single axis to be completely controlled and synchronised to a separate encoder or virtual axis with no additional controller hardware. A complete range of essential functions
are available, including encoder and virtual axis synchronization, mark registration, point to point positioning and user defined cam profiles. In addition, the hardware complements these powerful software features with built-in I/O and SSCNET III motion networking capability. The controller has as
standard an Ethernet port for communication to HMI and PLC, like Q-PLC, FX-PLC and 3rd party products.
With the intuitive MT Developer2 software abstract programming is replaced with graphical models
of the actual mechanical system. It's easy to create virtual clutches, gears and cam profiles by simple
drag and drop selection.
Main applications are:
● Flying saws
● Labelling
● Rotary cutters
● Form, fill & seal/pillow packaging
● Plus many more
Motion controller MR-MQ100
1-1
Introduction
1.1.1
Features of MR-MQ100
Components of the motion control system with MR-MQ100
Servo Amplifier
MR-J3-B쏔
Personal Computer
Motion Controller
MR-MQ100
Motor Power
Connector
SSCNET III Cable
Ethernet
External Connections Terminal
Encoder
Connector
(Included with MR-MQ100)
Servo Motor
24 V Power Supply
(Connector included with
MR-MQ100)
Q6BAT
(Included with MR-MQ100)
Fig. 1-1:
1-2
System components
Specifications
1.2
Introduction
Specifications
Items
Specification
Power Supply
24V DC +/– 10 % (Required Current Capacity 400mA)
Max. input current
690 mA
Power consumption
16.6 W
Mass [kg]
0.7
Dimensions [mm]
178 (H) x30 (W) x 135 (D)
Digital Inputs (Mark detection)
4 Inputs (24V DC)
Digital Outputs
2 Outputs (24V DC)
앫 A/B-phase pulse train
Synchronous Encoder
앫 Open-collector-type:
up to 800 kpps,
up to 10 m
앫 Differential-type:
up to 1 Mpps,
up to 30 m
Peripheral Interface
100/10 Mbps Ethernet
Connectable servo amplifier
MR-J3-B Servo amplifier over SSCNET III
Memory back up
Q6BAT (included with MR-MQ100)
Tab. 1-1:
MR-MQ100 General specifications
Motion controller MR-MQ100
1-3
Introduction
Specifications
Item
Specification
Number of controlled axis
1 Axis
Operation cycle
0.44 ms/1 axis
Interpolation functions
None
Control modes
PTP (Point to Point) control, Speed control, Speed-position control,
Fixed-pitch feed, Constant speed control, Position follow-up control,
Speed control with fixed position stop, Speed switching control,
High-speed oscillation control, Synchronous control
Acceleration/deceleration control
Automatic trapezoidal acceleration/deceleration,
S-curve acceleration/deceleration
Compensation
Backlash compensation, Electronic gear, Phase compensation
Programming language
Motion SFC, Dedicated instruction, Mechanical support language (SV22)
Servo program capacity
16k steps
Number of positioning points
3 200 points (Positioning data can be designated indirectly)
Home position return function
Proximity dog type (2 types), Count type (3 types), Data set type (2 types),
Dog cradle type, Stopper type (2 types), Limit switch combined type
(Home position return re-try function provided, home position shift function
provided)
JOG operation function
Provided
Manual pulse generator operation
function
Possible to connect 1 module
Synchronous encoder operation
function
Possible to connect 1 modules (incremental only)
M-code function
M-code output function provided, M-code completion wait function provided
Limit switch output function
Number of output points 32 points
Watch data: Motion control data/Word device
ROM operation function
Provided
Absolute position system
Made compatible by setting battery to servo amplifier.
(Possible to select the absolute data method or incremental method for each
axis)
Number of SSCNET III systems
1 system
Motion related interface module
None
External input signal
The input signal of the servo amplifier is used. (FLS, RLS, DOG)
High-speed reading of specified data
Provided (Via internal I/F input module)
Mark detection function
Provided
Clock Function
Provided
Security function
"Write Protection" or "Read/Write Protection" can be set for "Motion SFC program", "Servo program", "Mechanical system program" and "CAM data".
All clear function
Provided
Remote Operation
Remote RUN/STOP, Remote latch clear
Digital Oscilloscope function
Provided
Mixed Function of Virtual Mode/
Real Mode
None
Tab. 1-2:
1-4
MR-MQ100 Motion Control specifications
"CHANGE" signal of Speed-position control comes from the servo amplifier.
Either a "Manual pulse generator" or "Incremental synchronous encoder" can be used.
Only SSCNET III based MR-J3 series servo amplifier can be used.
Specifications
Introduction
Item
Specification
Motion SFC program
capacity
Motion SFC program
Operation control program
(F/FS)
/
Transition program
(G)
Code total
(Motion SFC chart + Operation control
+ Transition)
543k bytes
Text total
(Operation control + Transition)
484k bytes
Number of Motion SFC programs
256 (No. 0 to 255)
Motion SFC chart size/program
Up to 64k bytes (Included Motion SFC chart comments)
Number of Motion SFC steps/program
Up to 4 094 steps
Number of selective branches/branch
255
Number of parallel branches/branch
255
Parallel branch nesting
Up to 4 levels
Number of operation control programs
4 096 with F (Once execution type) and FS( Scan execution type)
combined. (F/FS0 to F/FS4 095)
Number of transition programs
4 096 (G0 to G4 095)
Code size/program
Up to approx. 64k bytes (32 766 steps)
Number of blocks(line)/program
Up to 8 192 blocks (in the case of 4 steps(min)/blocks)
Number of characters/block
Up to 128 (comment included)
Number of operand/block
Up to 64 (operand: constants, word device, bit devices)
( ) nesting/block
Up to 32 levels
Descriptive
expression
Operation control program
Calculation expression/bit conditional expression
Transition program
Calculation expression/bit conditional expression/comparison
conditional expression
Number of multi execute programs
Number of multi active steps
Execute specification
Executed
task
Up to 256
Up to 256 steps/all programs
Normal task
Execute in main cycle of motion controller
Event task
(Execution can Fixed cycle
be masked.)
Execute in fixed cycle
(0.44ms, 0.88ms, 1.77ms, 3.55ms, 7.11ms, 14.2ms)
I/O (X,Y) points
8 192 points
I/O (PX, PY) points
Internal I/F (Input 4 points, Output 2 points)
Number of devices
(Devices in the Motion
controller only)
(Positioning dedicated
devices are included)
Internal relays
(M)
12 288 points
Link relays
(B)
8 192 points
Annunciators relays
(F)
2 048 points
Special relays
(SM)
2 256 points
Data registers
(D)
8 192 points
Link registers
(W)
8 192 points
Special registers
(SD)
2 256 points
Motion registers
(#)
12 288 points
Coasting timers
(FT)
Multiple CPU area device
Tab. 1-3:
1 point (888 μs)
None
MR-MQ100 Motion SFC Performance specifications
Motion controller MR-MQ100
1-5
Introduction
Specifications
Item
Specification
Number of control axes
1 axis
Control method
Synchronous control, PTP (Point to Point) control, speed control, fixed-pitch feed,
constant-speed control, position follow-up control, speed-switching control
Drive module
Synchronous encoder
Roller
Control units
Output module
Program language
Servo program
Virtual servomotor
Ball screw
PLS
mm, inch
Rotary table
Fixed as "degree"
Cam
mm, inch, PLS
Dedicated instructions (Servo program + mechanical system program)
Capacity
16k steps (14 334 steps)
Number of
positioning points
Total of 3 200 points (It changes with programs, indirect specification is possible.)
Virtual module
3 axes
Synchronous
encoder
1 axis
Number of modules which can be set per CPU
Mechanical system program
Drive
modules
Virtual
axes
Cam
1
Auxiliary input axis
1
Gear
2
Clutch
2
Transmission Speed change gear 2
modules
Differential gear
1
Output
modules
Differential gear to
main shaft
1
Roller
1
Ball screw
1
Rotary table
1
Cam
1
Total of 1
Types
Up to 256
Resolution per cycle
256 • 512 • 1 024 • 2 048
Memory capacity
132k bytes
Storage memory for cam data
CPU internal RAM memory
Stroke resolution
32 767
Control mode
Two-way cam/feed cam
Tab. 1-4:
1-6
Main shaft
MR-MQ100 Mechanical system program specifications (1)
Specifications
Introduction
Item
Specification
PTP (Point to Point) control, speed control, fixed-pitch feed, constant-speed control,
position follow-up control
Control methods
Method
PTP control:
Fixed-pitch feed:
Constant-speed control:
Position follow-up control:
Selection of absolute or incremental data method
Incremental data method
Both absolute and incremental data method can be used together
Absolute data method
Position command
Address setting range:
–2 147 483 648 to 2 147 483 647 [PLS]
Speed command
Speed setting range:
1 to 2 147 483 647 [PLS/s]
Virtual servomotor
Positioning
Automatic
trapezoidal
Acceleration/ acceleration/
deceleration deceleration
control
S-curve
acceleration/
deceleration
Acceleration-fixed acceleration/deceleration
Time-fixed acceleration/deceleration
Acceleration time:
1 to 65 535 [ms]
Deceleration time:
1 to 65 535 [ms]
Acceleration/deceleration time: 1 to 5 000 [ms]
(Only constant-speed control is possible.)
S-curve ratio : 0 to 100 [%]
JOG operation function
Provided
M-function (with mode)
M-code output function provided, M-code complete wait function provided
Manual pulse generator operation
function
(Test mode only)
1 unit can be connected.
Setting of magnification: 1 to 10 000
Setting of smoothing magnification provided.
Tab. 1-4:
MR-MQ100 Mechanical system program specifications (2)
Capacity matching the servo program for real mode.
Relation between a resolution per cycle of cam and type are shown below.
Resolution per cycle
Type
256
256
512
128
1 024
64
2 048
32
Motion controller MR-MQ100
1-7
Introduction
1.3
Terminology
Terminology
The terms and abbreviations below are important for motion controllers and are used frequently in
this guide.
Direction of rotation of electric motors
The direction (or sense) of rotation of electric motors is defined looking at the end of the motor shaft.
Direction of rotation is described as:
● Clockwise/Reverse
or
● Counterclockwise/Forward
Motor
Fig. 1-2:
Forward rotation (CCW)
Reverse rotation (CW)
Abbreviations
1-8
– FLS
Upper stroke limit
– RLS
Lower stroke limit
– STOP
Stop signal
– DOG
Proximity dog
– EMI
Emergency signal input
– CW
Clockwise
– CCW
Counterclockwise
– SSCNET III
Optical bus system for data communication
Direction of rotation
Overview
Details of the module
2
Details of the module
2.1
Overview
2.1.1
Frontview, sideview and partnames
Front view
Sideview
Fig. 2-1:
b
MR-MQ100
WARNING:
Close the clear cover (), after using the rotary switches.
Motion controller MR-MQ100
2-1
Details of the module
Overview
No.
Name
Application
7-segment LED
Indicates the operating status and error information.
Rotary function select 1 앫 Set the operation mode.
switch (SW1)
(Normal operation mode, Installation mode, Mode operated by ROM, etc)
Rotary function select 2 앫 Each switch setting is 0 to F.
(Shipped from the factory in SW1 "0", SW2 "0" position)
switch (SW2)
POWER LED
ON (Red): The internal power (5 V DC) is on.
OFF:
The internal power (5 V DC) is off.
앫 Move to RUN/STOP
RUN/STOP/RESET
switch
RUN:
Motion SFC program is started.
STOP: Motion SFC program is stopped.
앫 RESET (Momentary switch)
Set the switch to the "RESET" position 1 second or more to reset the hardware
For communication I/F with peripherals. (Ethernet connector)
앫 The upper LED of the connector for PERIPHERAL I/F.
PERIPHERAL I/F
connector
Remains flashing:
It communicates with the personal computer.
OFF:
It doesn't communicate with the personal computer.
앫 The lower LED of the PERIPHERAL I/F connector
ON:
OFF:
SSCNET III connector
Connector to connect the servo amplifier
Internal I/F connector
Incremental synchronous encoder input, the signal is input, the signal is output.
Incremental synchronous encoder input has Differential-output type, Voltage-output/
Open-collector type.
24 V DC power supply
connector
The DC power of 24 V DC is connected.
Serial number display
plate
The serial number written on the rating plate is displayed.
Cover
Transparent cover for 7-segment LED and for rotary switches SW1 and SW2
Battery holder
Battery holder to set the Q6BAT/ Q7BAT
Hole for module fixing
screw
Screw used to fix to the control box. (M5 screw)
FG terminal (Terminal
for earth)
Earth terminal which is connected to shield patterns on the print circuit board.
Tab. 2-1:
NOTE
2-2
100Mbps
10Mbps
Description of the partnames in fig. 2-1.
For more details of the partnames and status LEDs please refer to the user’s manual of the motion
controller MR-MQ100.
Overview
2.1.2
Details of the module
System configuration
Motion controller
MR-MQ100
PULL
PERIPHERAL I/F
Personal Computer
Servo amplifier
1 axis
MR-J3-B쏔
External input signals of
servo amplifier
앫 Proximity dog
앫 Upper stroke limit
앫 Lower stroke limit
M
E
Panel personal
computer
24 V DC
P
Manual pulse generator or
Incremental synchronous encoder
Input 4 points, Output 2 points
Fig. 2-2:
NOTE
b
MR-MQ100 System overall configuration
Up to 16 different equipments can access to a single motion controller.
The latest operating system software "SW9DNC-SV22QW" is preinstalled in the MR-MQ100. There
is no need for customer installation.
WARNING:
● Construct a safety circuit externally of the motion controller or servo amplifier if the abnormal operation of the motion controller or servo amplifier differ from the safety directive
operation in the system.
● The ratings and characteristics of the parts (other than motion controller, servo amplifier
and servomotor) used in a system must be compatible with the motion controller, servo
amplifier and servomotor.
● Set the parameter values to those that are compatible with the motion controller, servo
amplifier, servomotor and regenerative resistor model and the system application. The
protective functions may not function if the settings are incorrect.
● The motion controller does not have a forced stop input, therefore the forced stop function
on the servo amplifier should be used.
Motion controller MR-MQ100
2-3
Details of the module
2.1.3
Overview
7-segment LED display
Item
7-segment LED
Start
Remark
Initializing
It takes about 10 seconds to initialize (RUN/STOP
display).
Execute the power cycle of the motion controller if
the operation stopped at initializing. It may be
motion controller's hardware fault when it is not
improved. Explain the error symptom (LED display)
and get advice from our sales representative for the
modules with failure.
Normal
"얖" remains flashing
Normal operation
Installation mode
Steady "INS" display,
"얖" remains flashing
Mode for installing operating system software via
personal computer.
Mode operated by
RAM
"얖" remains flashing
Mode for operating based on user programs and
parameters stored in the SRAM built-in motion controller.
Mode operated by
ROM
Steady "INS" display,
"얖" remains flashing
Mode for operating after the user programs and
parameters stored in the FLASH ROM built-in
motion controller are read to the SRAM built-in
motion controller.
STOP
Steady "STP" display
Stopped the Motion SFC program.
RUN
Steady "RUN" display
Executed the Motion SFC program.
Early stage warning
(2.7 V or less)
Steady "BT1" display
Displayed at battery voltage 2.7 V or less.
Final stage warning
(2.5 V or less)
Steady "BT2" display
Displayed at battery voltage 2.5 V or less.
"AL" flashes 3 times
System setting error of the motion controller.
Refer to the "Q173DCPU/Q172DCPU Motion controller Programming Manual (COMMON)" for
details.
Operation
mode
Battery error
System setting error
Steady "L01" display
"AL" flashes 3 times
Servo error
Steady "S01" display
WDT error
Tab. 2-2:
2-4
Steady "…" display
The LED displays/flashes in the combination with errors
Motion controller servo error.
Refer to the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL
MODE)" or "Q173DCPU/Q172DCPU Motion controller (SV22) Programming Manual (VIRTUAL MODE)"
for details.
Hardware fault or software fault.
Refer to the "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming Manual (REAL
MODE)" or "Q173DCPU/Q172DCPU Motion controller (SV22) Programming Manual (VIRTUAL MODE)"
for details.
Overview
NOTES
Details of the module
When an error is displayed on the 7-segment LED, confirm the error number etc. using
MT Developer2.
Refer to the motion controller error batch monitor of MT Developer2 or error list of the programming manual for error details.
2.1.4
Rotary switch assignment
Rotary switch
Setting
Description
Normal mode
Normal operation mode
78 9
A
Installation mode
When installing the operating system software using
MT Developer2
CD
AB E
0
5
23 4 6
F01
Tab. 2-3:
Rotary function select switch 1 (SW1)
Rotary switch
Setting
Mode
Description
0
Mode operated by
RAM
Normal operation mode
(Operation by the setting data and parameters stored in the
motion controller’s SRAM.)
6
Mode operated by
ROM
Mode to operate based on the setting data and the parameters
written to the motion controller’s FLASH ROM.
8
Ethernet IP address
display mode
Ethernet Internet Protocol address display mode.
C
SRAM clear
SRAM "0" clear
CD
AB E
5
23 4 6
F01
78 9
Tab. 2-4:
NOTE
Mode
Rotary function select switch 2 (SW2)
Be sure to turn OFF the motion controller power supply before the rotary switch setting change.
Motion controller MR-MQ100
2-5
Details of the module
2.1.5
Overview
Operation mode
Rotary switch setting
Operation mode
SW1
SW2
A
Any setting (Except C)
0
0
Mode operated by RAM
0
6
Mode operated by ROM
0
8
Ethernet IP address display mode
Any setting
C
SRAM clear
Tab. 2-5:
Installation mode
Rotary switch setting and operation mode
Not to be set except above setting.
The programs, parameters, absolute position data, and latch data built-in motion controller are
cleared.
Operation mode
7-segment LED
Operation overview
앫 "얖" remains flashing in the first digit of 7-segment LED.
앫 Operates based on the user program and parameters stored in the SRAM of the
motion controller.
Mode operated by RAM
앫 "얖" remains flashing in the first digit and steady "•" display in the second digit of
7-segment LED.
앫 Operation starts after the user programs and parameters stored in the motion
controller’s FLASH ROM are read to the SRAM built-in motion controller at power
supply on or reset of the motion controller.
앫 If the ROM writing is not executed, even if the user programs and parameters are
changed using the MT Developer2 during mode operated by ROM, operation
starts with the contents of the FLASH ROM at next power supply on or reset.
Mode operated by ROM
앫 Also, If the ROM writing is not executed, even if the auto tuning data are reflected
on the servo parameter of the motion controller by operation in the auto-tuning
setting, operation starts with the contents of the FLASH ROM at next power on or
reset.
Ethernet IP address display
mode
—
앫 Refer to tab. 2-7 "Ethernet IP address display mode overview".
앫 Digital oscilloscope function cannot be used.
앫 "얖" remains flashing in the first digit and steady.
앫 When rotary switch 2 is set to "C", and a power ON is done, the SRAM area is
cleared.
SRAM clear
앫 The programs, parameters, absolute position data, and latch data in the motion
controller are cleared.
앫 Steady "INS" display at the 7-segment LED.
앫 Operating system software can be installed.
앫 STOP status is maintained regardless of the RUN/STOP/RESET switch position on
the front side of Motion controller.
Installation mode
앫 Digital oscilloscope function cannot be used.
Tab. 2-6:
2-6
Operation mode overview
Overview
Details of the module
7-segment LED
Operation overview
앫 IP address
Example (192.168.3.39)
앫 Subnet mask pattern
Example (255.255.255.0)
앫 Default router IP address
Example (192.168.3.1)
Disconnect
앫 Link status
Tab. 2-7:
NOTES
Connect 10 Mbps
Full Duplex
Connect 100 Mbps
Half Duplex
Ethernet IP address display mode overview
When the Ethernet parameters are not written in the Motion controller , the address is displayed
as follows.
– IP address:
192.168.3.39
– Subnet mask pattern:
255.255.255.0
– Default router IP address: 192.168.3.1
Be sure to turn OFF the Motion controller power supply before a rotary switch setting change.
Motion controller MR-MQ100
2-7
Details of the module
2-8
Overview
Module mounting into cabinet
Mounting and Wiring
3
Mounting and Wiring
3.1
Module mounting into cabinet
3.1.1
Mounting of MR-MQ100
Keep the clearances shown below between the top/bottom faces of the module and other structures
or parts to ensure good ventilation and facilitate module replacement.
40 mm
135 mm
100 mm
Motion
controller
Servo amplifier
Door
P ULL
90 mm
30 mm
30 mm
10 mm
Fig. 3-1:
Module mounting position
Fit the Motion controller at the left side of the servo amplifier.
Motion controller MR-MQ100
3-1
Mounting and Wiring
Module mounting into cabinet
Mounting method for the motion controller
b
WARNING:
Completely turn off the externally supplied power used in the system before installation or
removing the module. Not doing so could result in electric shock or damage to the product.
햲 Fit the holes for the bottom mounting
screws of the Motion controller into the
panel. Temporarily fasten the bottom side
screw.
Control panel
Bottom
side screw
햳 Place the bottom side notch of the Motion
controller onto the bottom side screw.
Control panel
PULL
햴 Fit the mounting screw into the upper side
hole of the Motion controller.
Control panel
PULL
Upper
side screw
3-2
햵 Retighten all the mounting screws using the
allowed torque.
Wiring
Mounting and Wiring
3.2
Wiring
3.2.1
Power supply
Connector layout
1A
1B
2A
2B
Tab. 3-1:
Pin No.
Signal name
Pin No.
Signal name
1A
Not connected
1B
24V(+)
2A
Not connected
2B
24G
Power supply 24 V (Pin layout from front view)
MR-MQ100 side
2A 2B
Solderless terminal
1A 1B
1827587-2 (Terminal)
1-1827864-2 (Connector)
24V(+)
24G
24V(+)
24G
Fig. 3-2:
1B
2B
1A
2A
Solderless terminal size: R1.25-3.5
24V(+)
24G
: Twisted pair cable
24 V DC power supply cable without EMI connector (Q170MPWCBL2M)
MR-MQ100 side
2A 2B
Solderless terminal
1A 1B
2
1
1827587-2 (Terminal)
1-1827864-2 (Connector)
24V(+)
24G
24V(+)
24G
EMI.COM
EMI
1B
2B
1A
2A
Solderless terminal size: R1.25-3.5
24V(+)
24G
: Twisted pair cable
2
1
5556PBTL (Terminal)
5557-02R-210 (Connector)
Fig. 3-3:
24 V DC power supply cable with EMI connector (Q170MPWCBL2M-E)
Use a cable of wire size AWG22.
Motion controller MR-MQ100
3-3
Mounting and Wiring
Wiring
Connecting the power supply
200–230 V AC
Power supply
24 V DC
AC
AC
DC
PULL
Fuse
Power supply
AC
DC
24 V DC
Supply of I/O
components
Input connector
FG
Fig. 3-4:
NOTES
Wiring of the power supply for MR-MQ100
Use a different 24 V DC power supply for MR-MQ100 and for I/O components.
Use different 24 V DC power supplies for the MR-MQ100 and the electromagnetic brake of the servomotor.
Fig. 3-5:
Connection and removal of the
24 V DC power supply cable
Motion
controller
Hook
24 V DC
NOTE
3-4
Forcibly removal the 24VDC power supply cable from the Motion controller will damage the
Motion controller or 24VDC power supply cable.
Wiring
3.2.2
Mounting and Wiring
Grounding
● Perform a grounding resistance of 100 Ω or less.
● Position the grounding point as close to the motion controller as possible to decrease the length
of the ground wire.
● Ground the motion controller independently if possible. If it cannot be grounded independently,
ground it jointly as shown below.
Motion
controller
Another
equipment
Independant grounding
Best condition
Fig. 3-6:
Motion
controller
Another
equipment
Shared grounding
Good condition
Motion
controller
Another
equipment
Common grounding
Not allowed
Types of grounding
● The ground wire size should be at least 2 mm².
Motion controller MR-MQ100
3-5
Mounting and Wiring
3.2.3
Wiring
Digital I/O
Cable
MR-MQ100 side
25
50
1
26
Solderless terminal
Connection diagram
HDR-E50MSG1+ (Connector)
HDR-E50LPH (Connector case)
HBL
HBH
HAL
HAH
HB
25
24
23
22
21
HA
20
SG
5V
SG
5V
SEL
SG
48
46
47
45
49
50
DO1
COM2
DO2
COM2
6
7
31
32
DO1
DI1
COM1
DI3
3
5
4
DI1
DI2
COM1
DI4
DICOM
FG
28
30
29
DI2
HBL
HBH
HAL
HAH
5VGND
5V
DO2
DOCOM
DI4
DICOM
Shell
Shell
FG
3-6
Output signal side
DI3
: Twisted pair cable
Tab. 3-2:
Differential-output type
Manual pulse generator/
incremental synchronous
encoder side
Differential-output type cable for internal I/F connector
The maximum length of the cable should be 30 m.
Connect SEL to the SG terminal if differential-output type is used.
Input signal/mark detection
input side
Wiring
Mounting and Wiring
Cable
MR-MQ100 side
25
50
1
26
Solderless terminal
Connection diagram
HDR-E50MSG1+ (Connector)
HDR-E50LPH (Connector case)
HBL
HBH
HAL
HAH
HB
25
24
23
22
21
HB
HA
20
HA
SG
5V
SG
5V
SEL
SG
48
46
47
45
49
50
5VGND
5V
DO1
COM2
DO2
COM2
6
7
31
32
DI1
COM1
DI3
3
5
4
DI1
DI2
COM1
DI4
DICOM
FG
28
30
29
DI2
Voltage-output/opencollector type
Manual pulse generator/
incremental synchronous
encoder side
DO1
DO2
DOCOM
Output signal side
DI3
Input signal/mark detection
input side
DI4
DICOM
Shell
Shell
FG
: Twisted pair cable
Tab. 3-3:
Voltage-output/open-collector type cable for internal I/F connector
The maximum length of the cable should be 10 m.
When voltage-output/open-collector type is used, open between SEL and SG.
Motion controller MR-MQ100
3-7
Mounting and Wiring
SSCNET III connection
3.3
SSCNET III connection
3.3.1
SSCNET III cable
The cables in the following table are applicable for the connection between the MR-MQ100 motion
controller and the servo amplifier MR-J3-첸B.
Symbol for cable length (첸)
Cable
MR-J3BUS첸M
0,3 m
0,5 m
1m
3m
5m
10 m
20 m
30 m
40 m
50 m
015
03
05
1
3
—
—
—
—
—
—
MR-J3BUS첸M-A
—
—
—
—
—
5
10
20
—
—
—
MR-J3BUS첸M-B
—
—
—
—
—
—
—
—
30
40
50
Tab. 3-4:
3.3.2
0,15 m
SSCNET III cable identification
Connection between the MR-MQ100 and the servo amplifier
MR-MQ100
PULL
CN1
Servo amplifier
CN1A
Cap
CN1B
Fig. 3-7:
NOTE
3-8
SSCNET III connection method with MR-MQ100
Chose the right SSCNET III cable type in tab. 3-4 depending on the cable length for your system
configuration.
Attach a cap to the SSCNET III connector of the system not being used.
If the connectors CN1A und CN1B are mixed up at the servo amplifier, no communication is possible.
SSCNET III connection
3.3.3
Mounting and Wiring
Setting the axis No. and axis select switch of servo amplifier
Axis No. is used in the program to set the axis numbers of any servo amplifiers connected to the motion controller via SSCNET III.
Set the axis select rotary switch of the servo amplifier to "0", because the axis number is fixed in the
"system structure" display as "d01".
(The default setting of the axis select rotary switch of servo amplifier is "0".).
B C DE
2
7 8 9
A
3 4 5 6
Axis select switch
(Servo amplifier)
F 0 1
Setting display of axis No.
Set the servo
amplifier’s rotary
switch to "0".
The axis number
"d01" is fixed on the
"system structure"
display.
Fig. 3-8:
Setting the axis No.
Motion controller MR-MQ100
3-9
Mounting and Wiring
3 - 10
SSCNET III connection
Start-up and trial operation
4
m
Start-up and trial operation
DANGER:
● Be sure to ground the Motion controllers, servo amplifiers and servomotors (Ground resistance: 100 Ω or less). Do not ground commonly with other devices.
● Never open the front case or terminal cover at times other than wiring work or periodic
inspections even if the power is OFF. The insides of the Motion controller and servo amplifier
are charged and may lead to electric shocks.
● When performing wiring work or inspections, turn the power OFF, wait at least ten minutes,
and then check the voltage with a tester, etc. Failing to do so may lead to electric shocks.
● Wire the units after mounting the Motion controller, servo amplifier and servomotor. Failing
to do so may lead to electric shocks or damage.
b
WARNING:
● Check that the combination of modules are correct. Wrong combination may damage the
modules.
● When using a regenerative resistor, shut the power OFF with an error signal. The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor, etc. and
may lead to fires.
● Always take heat measure such as flame proofing for the inside of the control panel where
the servo amplifier or regenerative resistor is mounted and for the wires used. Failing to do
so may lead to fires.
● Do not mount a phase advancing capacitor, surge absorber or radio noise filter (option
FR-BIF) on the output side of the servo amplifier.
● Correctly connect the output side (terminal U, V, W). Incorrect connections will lead the servo
motor to operate abnormally.
● Set parameter values to those that are compatible with the Motion controller, servo amplifier, servo motor and regenerative resistor model name and the system name application.
The protective functions may not function if the settings are incorrect.
● Always mount a leakage breaker on the Motion controller and servo amplifier power source.
● Install emergency stop circuit externally so that operation can be stopped immediately and
the power shut off.
● Use the program commands for the program with the conditions specified in the instruction
manual.
● Some devices used in the program have fixed applications, so use these with the conditions
specified in the programming manual.
● If safety standards (ex., robot safety rules, etc.,) apply to the system using the Motion
controller, servo amplifier and servo motor, make sure that the safety standards are satisfied.
● Construct a safety circuit externally of the Motion controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive
operation in the system.
● The system must have a mechanical allowance so that the machine itself can stop even if the
stroke limits switch is passed through at the max. speed.
● Execute the test operation in the system that it is low-speed as much as possible and put
forced stop and confirm the operation and safety.
Motion controller MR-MQ100
4-1
Start-up and trial operation
4.1
Start-up procedure
Start-up procedure
Servo start-up procedure
Turn OFF Motion controller's power supply
Motion
controller
Turn ON power supply again
Check that the power supply of Motion
controller is OFF.
Cycle the power of the Motion Controller.
Check external inputs
Check wiring and module installation
앫 Check the installation of the servo
amplifier.
앫 Check the connecting condition of
connectors.
앫 Check that all terminal screws are tight.
앫 Check the ground wires of servo
amplifier, etc.
앫 Check the servo motor wiring (U, V, W).
앫 Check the regenerative option wiring.
앫 Check the circuit of emergency stop or
forced stop.
Check the wiring of the external signal inputs
by the device monitoringMT Developer2.
앫 Check the wiring of
FLS(Upper stroke limit input),
RLS(Lower stroke limit input).
앫 Check the wiring of proximity DOG signal
when you use home position return of
proximity DOG type.
Check pulse inputs
Check the wiring of the external inputs by the
device monitor of MT Developer2.
Servo amplifier setting
Servo
amplifier
Set the axis number of the servo amplifier
to "0".
Turn ON power supply
Motion
controller
Set the RUN/STOP/RESET switch of Motion
controller to STOP, and turn ON the Motion
controller's power supply.
Check I/O signal
Check the wiring of the I/O signal by the
device monitor of MT Developer2.
[Servo data setting]
[System setting]
Parameters setting
Set the positioning parameters using MT
Developer2.
Motion
controller
Motion
controller
앫 Check that the current value device
(D1120,D1121) counts when a manual
pulse genarator or a synchronous encoder
are used.
앫 System setting
Positioning parameters setting
Set the following positioning parameters
using M Developer2.
앫 Fixed parameters
앫 Home position return data
앫 JOG operation data
앫 Servo parameters
앫 Parameter block
앫 Limit switch
Fig. 4-1:
Start-up procedure (1)
NOTE
4-2
The mode indicated in the brackets [ ] at top left of each step is the mode for checking or setting
using MT Developer2.
An error may occur if the power is turned on before system setting. In the case, reset the Multiple
CPU system after system setting. Refer to the "Q173DCPU/Q172DCPU Motion controller Programming Manual (COMMON)" at the system setting error occurrence.
Start-up procedure
Start-up and trial operation
[Programming]
[Test mode •
JOG operation]
Create Motion programs
Motion
controller
Check machine operation
Create the Motion programs using
MT Developer2.
Check the following by making the machine
operate with the JOG operation of
MT Developer2.
앫 Machine operates correctly
(no vibration, hunting, etc.)
앫 Stroke limits operate correctly
앫 Machine stops by the emergency stop or
forced stop
Write Motion programs
Motion
controller
Write the positioning data and Motion
programs created to the Motion controller.
[Test mode •
home position return]
Check home position return
Turn ON power supply again
Check the followings by executing the home
position return.
Cycle the power of the Motion Controller .
앫 Home position return direction
앫 Home position return data
앫 Proximity dog position
Turn ON servo amplifiers power supply
Motion
controller
Check the emergency stop ON and forced
stop ON, and turn ON the power supply of
servo amplifier and servo motor.
Check Motion program
Set the RUN/STOP/RESET switch of Motion
controller to RUN and check that all positioning
controls by Motion programs are correct.
[Test mode •
Servo start-up
(Initial check)]
Check servo amplifier
[Monitor]
Check that the mounted servo amplifier
operates correctly.
Motion
controller
[Programming]
Check by automatic operation
Motion
controller
[Test mode •
Servo start-up
(Upper/lower
stroke limit check)]
Check the sequence operation by executing
the PLC program using an actual external
input.
Check upper/lower stroke limits
Check that the upper/lower stroke limits
operate correctly.
END
Fig. 4-1:
Start-up procedure (2)
NOTES
The mode indicated in the brackets [ ] at top left of each step is the mode for checking or setting
using MT Developer2.
Axis No. and error description of servo amplifier which detected errors are displayed on initial
check screen.
Make a note of the series name of the motor before mounting to a machine. The servo motor
name plate may not be visible after the servo motor is mounted.
When the servo amplifier, servomotor is first turned on, check the operation before mounting
them to a machine in order to avoid unexpected accidents such as machine damage.
Motion controller MR-MQ100
4-3
Start-up and trial operation
Software installation
4.2
Software installation
4.2.1
Programming software
Install all of the software listed in the table below.
Product
Detail
MELSOFT MT Works2 (MT Developer2 )
Ver. 1.04E or later
MR Configurator (optional)
Ver. C1 or later
Tab. 4-1:
4.2.2
Software
This software is included in Motion controller engineering environment "MELSOFT MT Works2"
Combination of software version and function
There are combinations in the function that can be used by the version of the operating system software and programming software. The combination of each version and a function is shown below.
Operating system software version
Programming software version
(MELSOFT MT Works2)
MC protocol communication
00B
1.06G
Incremental synchronous encoder
current value in real mode
00B
—
Connection of the servo amplifier for
direct drive motor
00B
1.06G
Function
Tab. 4-2:
Combination of software version and a function
Confirmation method of the operating system software's version
The operating system software's version of the connected Motion controller is displayed on the OS
type item of the Read from CPU screen in MT Developer2.
S
V
2
2
Q
W
V
E
R
3
0
0
B
Version
4.2.3
Operating system (OS)
The operating system software is installed at the time of motion controller purchase, so there is no
need to install any operating system into the motion controller before first start up.
It is only necessary to install a new operating system software after any upgrades.
The installation procedure of an updated operation system is described in the MR-MQ100 Motion
controller Users Manual (see preamble for manual number).
4-4
Connection to peripheral devices
Communication
5
Communication
5.1
Connection to peripheral devices
There are two ways to communicate between the Motion controller and a computer.
● Direct connection
● Hub connection
Ethernet cables and parameters are different for "Direct connection" and "Hub Connection". Please
note there are two types of Ethernet cables.
● Crossover cable
● Straight cable
5.1.1
Direct connection
Direct connection uses an Ethernet cable between the Motion controller and a computer. Select Direct connection on the "Transfer Setup" screen of MT Developer2
(Menu: "Online" – "Transfer Setup").
There is no need to set IP address, IP Input Format or Protocol.
MR-MQ100
Personal Computer
PULL
Ethernet cable (Crossover cable)
Fig. 5-1:
Direct connection between Motion controller and PC
Motion controller MR-MQ100
5-1
Communication
Connection to peripheral devices
Direct connection settings
Select Ethernet Port Direct connection on the "Transfer Setup" screen.
Select Ethernet Board
Double click PLC Module
CPU side I/F Detailed Setting of PLC Module
(Menu: "Online" – "Transfer Setup" – "CPU side I/F Detailed Setting of PLC Module")
Select Ethernet Port Direct
connection
NOTES
Do not connect to a LAN with Direct connection setting. The LAN line will become busy and may
effect communication of other equipment on the LAN.
IP address setting does not matter when using a direct connection. However, communication may
fail with the below conditions.
– In the Motion controller IP address, bits corresponding to "0" in the computer subnet mask are
all ON (255) or all OFF (0).
Example:
Motion controller IP address:
64.
64.255.255
Personal computer IP address:
64.
64.1.1
Personal computer subnet mask:
255. 255.0.0
– In the Motion controller IP address, bits corresponding to the computer IP address for each class
in the personal computer IP address are all ON (255) or all OFF (0).
Example:
Motion controller IP address:
64.
64.255.255
Personal computer IP address:
192. 168.0.0
Personal computer subnet mask:
255. 0.0. 0
5-2
Connection to peripheral devices
5.1.2
Communication
Hub Connection
The Motion controller can be connected to multiple computers through a hub.
MR-MQ100
Personal Computer
PULL
Ethernet cable
(Straight cable)
Ethernet cable
(Straight cable)
PERIPHERAL I/F
(Ethernet)
Panel
Personal
Computer
HUB
Fig. 5-2:
Connection between Motion controller and PC via Hub
Hub connection settings
Before connection with a hub can be made, the Motion controller’s settings must be changed using
a direct connection method.
Connecting an Ethernet cable (Crossover cable)
Connect an Ethernet cable (Crossover cable) between the Motion controller and a computer.
Setting IP address of the Motion controller
Set the IP address located in the tab "Built-in Ethernet Port Setting".
The default IP address value is [192.168.3.39].
Refer to the notes on page 5-2 about IP address value setting.
No need to set Subnet Mask Pattern or Default Router IP Address.
The setting is done in the menu "Built-in Ethernet Port Setting":
(Menu: "System Setting" – "Basic Setting"– "Built-in Ethernet Port Setting")
Set IP address
Refer to the notes on
page 5-2
Motion controller MR-MQ100
5-3
Communication
Connection to peripheral devices
Open setting of the Motion controller
Select TCP or UDP to correspond to current setting of the computer. TCP is recommended,
because of the quality of the communication.
The setting is done in the menu "Open Setting"
(Menu: "System Setting" – "Basic Setting" – "Built-in Ethernet Port Setting" – "Open Setting")
Writing parameters
Write parameters to the Motion controller.
(Crossover cable must be used for this step.)
Changing cables
Power off the Motion controller, then change the Ethernet cable from a crossover cable to a
straight cable.
Equipment
Ethernet cable
The Motion controller – Hub
Straight cable
All Computers – Hub
Straight cable
Tab. 5-1:
Ethernet cables for use with Hub
Enabling the parameters of the Motion controller
Once power returns to the Motion controller, the IP address and parameters of the menu "Open
Setting" will become enabled.
5-4
Connection to peripheral devices
Communication
Transfer Setup of the computer (MT Developer2)
Select Connection via Hub on the "Transfer Setup" screen.
The setting is done in the menu "Transfer Setup" (Menu: "Online" – "Transfer Setup")
Select Ethernet Board
Double click PLC Module
CPU side I/F Detailed Setting of PLC Module
Select Connection via Hub
Set the IP address to the same value as the IP address of the Motion controller.
The default value of the IP address is [192.168.3.39].
Refer to the notes on page 5-2 about IP address value setting.
Select Connection via Hub
Set IP address
Refer to "Hub connection
setting" on next page
PC side I/F Ethernet Board Setting
Select TCP or UDP to be same as "Open Setting"
Motion controller MR-MQ100
5-5
Communication
Connection to peripheral devices
Hub connection setting
IP Address
The IP address of the Motion controller has to be considered when the IP address of the computer
is already set.
Example The below setting is one example, if the IP address of the computer is [192.168.1.1]
For instance [192.168.1.1] is already
set as the IP address of the computer.
Set the values of these 3 columns to
the same value as the computer’s
setting.
Be sure this column has a different
value than the computer’s setting.
For example [192.168.1.2] is set on
the controller when [192.168.1.1] is
set on the computer side.
Set this value to be the same as the
“Built-in Ethernet Port Setting.
In this example [192.168.1.2]
Fig. 5-3:
Setting example of the IP address
5-6
Connection to peripheral devices
Communication
Up to 16 different equipment can access the Motion controller.
Hub
The hub can be either a 10BASE-T or 100BASE-TX port.
(It has to meet IEEE802.3 100BASE-TX or IEEE802.3 10BASE-T)
The Ethernet cables must to be installed away from power cabling lines.
The connections cannot be guaranteed under below conditions:
– Any connection made over the internet.
– Any connection made through a fire wall.
– Any connection made through a broadband router.
– Any connection made through a wireless LAN.
When multiple Motion controllers are connected to MT Developer2, beware of the below cautions:
– IP addresses must be different for each Motion controller.
– Different projects must be used for each Motion controllers on MT Developer2.
– Only one instance each of the "Digital oscilloscope function" and "Test mode function" can be
used on a single computer at a time.
Motion controller MR-MQ100
5-7
Communication
Setting CPU name
5.2
Setting CPU name
5.2.1
HUB connection setting
When setting up a connection to a hub, a label and comments can be added to each controller in the
CPU Name Setting tab of the Basic Settings window.
(Communication is still available even without defining a Label and/or Comment.)
The setting is done in the menu "CPU Name Setting"
(Menu: "System Setting" – "Basic Setting" – "CPU Name Setting")
Item
Contents
Label
Enter a label (name and/or purpose)
Up to 10 characters
of the Motion controller.
Comment
Enter comments regarding the
Motion controller.
Tab. 5-2:
Length
Up to 64 characters
Setting of the menu items
The "Find CPU (Built-in Ethernet port) on Network" function in the "CPU side I/F Detailed Setting of PLC
Module" conveniently shows the below information when MT Developer2 and the Motion controller
are connected via the PERIPHERAL I/F (Ethernet).
– IP address
– CPU type
– Label
– Comment
5-8
MC Protocol Communication
5.3
Communication
MC Protocol Communication
PERIPHERAL I/F of the Motion controller enables communication using the MC protocol.
NOTE
The MC protocol is an abbreviation for the MELSEC communication protocol.
The MELSEC communication protocol is a name of the communication method used to access
CPU modules from external devices in accordance with the communication procedure of Q-series
programmable controllers (such as serial communication modules, Ethernet modules).
For details on the MC protocol, refer to the "Q Corresponding MELSECCommunication Protocol
Reference Manual".
External devices such as personal computers and display devices read/write device data from/to the
Motion controller using the MC protocol.
External devices monitor the operation of the Motion controller, analyze data, and manage production by reading/writing device data.
5.3.1
Topics of the MC Protokoll
– The MC Protocol was implemented in MR-MQ100 for communication to Q-PLC, FX-PLC and 3rd
party products.
– The QnA compatible 3E frame was implemented and the communication is compatible to
QnUDE-Communication.
– Two types of communication systems are available; one using ASCII code data and the other using
binary code data.
– Protocol must be programmed in the external device side and the MR-MQ100 reply of the
protocol without any program in the Motion Controller.
– The Read/Writing/Monitoring of M, SD, X, Y, M, F, B, D, W, # devices is supported.
– Data communication is performed using half-duplex communication.
5.3.2
Transmission of command messages
Data communication through the MC protocol is performed using half-duplex communication.햲
When accessing the programmable controller CPU, send the next command message after receiving
a response message from the programable controller CPU side for the previous command message
transmission.
External device side
(Command message)
Programmable
controller CPU side
Fig. 5-4:
햲
(Command message)
(Response message)
(Response message)
Half-duplex communication
When accessing via the Q series C24, full-duplex communication is performed by user setting
when the on-demand function is being used. When the system between external devices and
programmable controller CPUs is configured with a m : n connection, the next command message transmission cannot be performed until data communication between either of the external devices and programmable controller CPUs is completed.
Motion controller MR-MQ100
5-9
Communication
MC Protocol Communication
When using ASCII code in QnA compatible 3E frame
When reading data from the local station programmable controller CPU at the external device.
Character area A
(Example)
5
0
0
Command
CPU monitoring
timer
Request data length
Subcommand
Request data section
Request destination
module station No.
PC No.
Network No.
0
Request destination
module I/O No.
Q header
Subheader
(Data name)
Header
Text (Command)
H
L
H
L
H
–
–
L
H
L
H
–
–
L
H
–
–
L
0
0
F
F
0
3
F
F
0
0
0
0
1
8
0
0
1
0
H
–
–
L
H
–
–
L
35 H 30 H 30 H 30 H 30 H 30 H 46 H 46 H 30 H 33 H 46 H 46 H 30 H 30 H 30 H 30 H 31 H 38 H 30 H 30 H 31 H 30 H
(Example) when this is 24 bytes
The arrangement of the data items
differs according to the command
and sub command.
Fig. 5-5:
External device side Programmable controller CPU side (Command message)
Character area B
D
0
0
Response data section
Complete code
Response data
length
Request destination
module station No.
PC No.
Network No.
0
Request destination
module I/O No.
Q header
Subheader
Header
Text (Response)
H
L
H
L
H
–
–
L
H
L
H
–
–
L
H
–
–
L
0
0
F
F
0
3
F
F
0
0
0
0
0
C
0
0
0
0
44 H 30 H 30 H 30 H 30 H 30 H 46 H 46 H 30 H 33 H 46 H 46 H 30 H 30 H 30 H 30 H 30 H 43 H 30 H 30 H 30 H 30 H
(Example) when this is 12 bytes
The arrangement of the data items
differs according to the command
and sub command.
Fig. 5-6:
5 - 10
Programmable controller CPU side External device side (Response message)
MC Protocol Communication
Communication
When using binary code in QnA compatible 3E frame
When reading data from the local station programmable controller CPU at the external device.
Character area A
50 H
00 H
L
H
FF H
03 H
00 H
L
H
L
H
0C H
00 H
10 H
00 H
Subcommand
Command
CPU monitoring
timer
Request data length
FF H
Request data section
Request destination
module station No.
PC No.
00 H
(Example)
Request destination
module I/O No.
Network No.
Q header
Subheader
(Data name)
Header
Text (Command)
L
H
L
H
(Example) when this is 24 bytes
The arrangement of the data items
differs according to the command
and sub command.
Fig. 5-7:
External device side Programmable controller CPU side (Command message)
Character area B
00 H
FF H
H
03 H
00 H
Complete code
Response data
length
FF H
L
D0 H
Response data section
Request destination
module station No.
PC No.
00 H
Request destination
module I/O No.
Network No.
Q header
Subheader
Header
Text (Response)
L
H
L
H
06 H
00 H
00 H
00 H
(Example) when this is 6 bytes
The arrangement of the data items
differs according to the command
and sub command.
Fig. 5-8:
Programmable controller CPU side External device side (Response message)
Motion controller MR-MQ100
5 - 11
Communication
MC Protocol Communication
Reading values in QnA-compatible 3E frame
Reading the current values of the three points from data registers D100 to D102 while communicating
in binary code.
Device code
L H
External device
side
(Example)
L - H
Number of device points
Subcommand
L H
(Data name)
Head device
Command
Number of points to be read
L H
Dat fpr the number of
designed device points
01 H 04 H 00 H 00 H 64 H 00 H 00 H A8 H 03 H 00 H
Specify the range of
the devices to be read
(Data name)
0401H
Programmable controller CPU side
(Example)
L H
L H L H
34 H 12 H 02 H 00 H EFH CD H
Indicate the current value of D100, 1234H hexadecimal (4 660 decimal)
Indicate the current value of D101, 0002H hexadecimal (2 decimal)
Indicate the current value of D102, CDEFH hexadecimal (–12 817 decimal)
Fig. 5-9:
Reading from the registers D100 to D102
Writing values in QnA-compatible 3E frame
Writing three points to D100 to D102 while communicating in binary code.
L - H
L H
Data for the number
of device points
Device code
L H
(Example)
Number of device points
L H
External device
side
Head device
Subcommand
(Data name)
Command
Number of points to be written
L H
L H
L H
01 H 14 H 00 H 00 H 64 H 00 H 00 H A8 H 03 H 00 H 95 H 19 H 02 H 12 H 30 H 11 H
(Data name)
Programmable controller
CPU side
Specify the range of
the devices to be written
Write 1995H hexadecimal (6 549 decimal) to D100
Write 1202H hexadecimal (4 610 decimal) to D101
Write 1130H hexadecimal (4 400 decimal) to D102
(Example)
Fig. 5-10: Writing to the registers D100 to D102
5 - 12
MC Protocol Communication
5.3.3
Communication
Command list
When the PERIPHERAL I/F of the Motion controller communicates using the MC protocol, commands
listed in table below can be executed.
Status of Motion controller
Command
(SubDescription
command)
Function
Batch read
Device memory
Batch write
Random
read
Test
(Random
write)
In units
of bits
0401
(0001)
In units
of words
0401
(0000)
In units
of bits
1401
(0001)
In units
of words
1401
(0000)
In units
of words
0403
(0000)
In units
of bits
1402
(0001)
In units
of words
1402
(0000)
Monitor
registration In units
of words
, , 0801
(0000)
In units
of words
0802
(0000)
Monitor
Tab. 5-3:
Number of
processed points
Reads bit devices in units of one point.
ASCII: 3 584 points
BIN: 7 168 points
Reads bit devices in units of 16 points.
960 words
(15 360 points)
Reads word devices in units of one
point.
960 points
Writes bit devices in units of one point.
ASCII: 3 584 points
BIN: 7 168 points
Writes bit devices in units of 16 points.
960 words
(15 360 points)
Writes word devices in units of one
point.
960 points
Reads bit devices in units of 16 or 32
points by randomly specifying a device
or device Random read number.
Reads word devices in units of one or
two points by randomly specifying a
device or device number.
Sets/resets bit devices in units of one
point by randomly specifying a device
or device number.
Sets/resets bit devices in units of 16 or
32 points by randomly specifying a
device or device number.
Writes word devices in units of one or
two points by randomly specifying a
device or device number.
Registers bit devices to be monitored
in units of 16 or 32 points.
Registers word devices to be monitored in units of one or two points.
Monitors devices registered.
RUN
STOP
Write
Write
enabled disabled
192 points
Number of
registered points
192 points
188 points
Executable commands using the MC protocol
: Available
: Not available
Subcommand is for the QnA-compatible 3E frame.
Devices such as TS, TC, SS, SC, CS and CC cannot be specified in units of words.
For the monitor registration, an error (4032H) occurs during the monitor operation.
During monitor registration, monitor condition cannot be set.
Do not execute monitor registration from multiple external devices. If executed, the last monitor
registration becomes valid.
Set the number of processed points so that the following condition is satisfied.
(Number of word access points) x 12 + (Number of double-word access points) x 14 1 920
– Bit devices are regarded as 16 bits during word access and 32 bits during double-word access.
– Word devices are regarded as one word during word access and two words during double-word access.
Motion controller MR-MQ100
5 - 13
Communication
5.3.4
MC Protocol Communication
Available devices
The devices available in commands used in the MC protocol communication function is shown below.
Device code
Classification
Internal system device
Internal user
device
Tab. 5-4:
Device
Device number range
Remarks
Binary code
Special relay
SM
91H
000000–002255
Decimal
Special register
SD
A9H
000000–002255
Decimal
Input
X쏔
9CH
000000–001FFF
Hexadecimal
Including actual input device PX.
Output
Y쏔
9DH
000000–001FFF
Hexadecimal
Including actual output device PY.
Internal relay
M쏔
90H
000000–012287
Decimal
Annunciator
F쏔
93H
000000–002047
Decimal
Link relay
B쏔
A0H
000000–001FFF
Hexadecimal
Data register
D쏔
A8H
000000–008191
Decimal
Link register
W쏔
B4H
000000–001FFF
Hexadecimal
Motion register
#쏔
E0H
000000–012287
Decimal
—
—
Availible devices in the MC protocol communication function
햲
5.3.5
ASCII code햲
When data is communicated in ASCII code, the second character "쏔" can be designated a blank
space (code: 20H).
Precautions
Number of connected modules
In the connection with external devices using the MC protocol, the number of Motion controllers set
as "MELSOFT connection" in the "Open Settings" on "Built-in Ethernet Port setting" of "Basic Setting"
can be connected simultaneously.
Data communication frame
The table below shows the frames available in the communication function using the MC protocol
with PERIPHERAL I/F.
Communication frame
Communication function using the MC protocol with PERIPHERAL I/F
4E frame
Not available
QnA-compatible 3E frame
Available
A-compatible 1E frame
Not available
Access range
Only Motion controller connected by Ethernet can be accessed. Accessing a Motion controller not
connected by Ethernet results in an error.
Precautions when UDP protocol is selected
– If a new request message is sent to the same UDP port while the port waits for a response message,
the new request message is discarded.
– Setting same host station port number to multiple UDP ports is regarded as one setting. When
communicating with multiple external devices using the same host station port number, select
TCP protocol.
5 - 14
MC Protocol Communication
Communication
Response message receive processing
Figure below shows an example of the response message receive processing on the external device
side.
Communication processing
on the external device side
Request message send processing
Response message receive processing
TCP connection is closed.
Is TCP connection open?
Receive the rest of
response messages.
Has the data
been received within the
monitoring timer?
The monitoring timer has run over.
The receive data exceeds
the size limit.
Check the receive data size.
Processing for response messages
The response message
for the following request
has been received.
Has processing
for all received messages
completed?
END
Fig. 5-11:
NOTES
Error processing
Flow chart of response message receive processing
Personal computers use the TCP socket functions internally for Ethernet communication.
These functions do not have boundary concept. Therefore, when data is sent by executing the
"send" function once, the "recv" function needs to be executed once or more to receive the same
data.
(One execution of the "send" function does not correspond to one execution of the "recv" function.)
For this reason, receive processing described above is required on the external device side.
If the "recv" function is used in blocking mode, data may be read by executing the function once.
For the error codes of communication using MC protocol please refer to the MR-MQ100 Motion
controller Users Manual.
Motion controller MR-MQ100
5 - 15
Communication
Example MC Protocol Communication
Reading of D2000–D2063
Command
Byte order
Value (hex)
1
50
2
00
3
00
Network No.
4
FF
PC No.
5
FF
6
03
Destination
I/O No.
7
00
Destination Station No.
8
0C
9
00
Request data length
(h0C = 12 bytes)
10
10
11
00
12
01
13
04
14
00
15
00
16
D0
17
07
18
00
19
A8
20
40
21
00
Tab. 5-5:
5 - 16
Description
Word order
Value (hex)
Sub header
1
0050
2
FF00
3
03FF
4
0C00
5
1000
6
0100
7
0004
8
00D0
9
0007
10
40A8
11
0000
CPU monitoring timer
Command
(h0401 batch read)
Subcommand
Starting Address
(h07D0 D2000)
Data type
(hA8 D-register)
Reading data length
(h40 64 points)
MC Protocol for Batch Read
MC Protocol Communication
Communication
Response
Byte order
Value (hex)
1
D0
2
00
3
00
Network No.
4
FF
PC No.
5
FF
6
03
7
00
Destination Station No.
8
82
9
0
Response data length
(No. of receive bytes + 2)
10
0
11
0
12
Data1
Low byte
13
Data1
High byte
14
Data2
Low byte
15
Data2
High byte
16
Data3
Low byte
17
Data3
High byte
...
...
139
Data64
Tab. 5-6:
Description
Word order
Value (hex)
Sub header
1
00D0
2
FF00
3
03FF
4
8200
5
0000
6
..00
7
....
8
....
....
....
70
....
Destination I/O No.
Complete code
...
High byte
MC Protocol for Batch Read
Motion controller MR-MQ100
5 - 17
Communication
Example MC Protocol Communication
Writing of D3000–D3063
Command
Byte order
Value (hex)
1
50
2
00
3
00
Network No.
4
FF
PC No.
5
FF
6
03
7
00
Destination Station No.
8
0C
9
00
Request data length
(No. of send byte + 12)
10
10
11
00
12
01
13
14
14
00
15
00
16
B8
17
0B
18
00
19
A8
20
40
21
00
22
Data1
Low byte
23
Data1
High byte
24
Data2
Low byte
25
Data2
High byte
26
Data3
Low byte
27
Data3
High byte
...
...
149
Data64
Tab. 5-7:
NOTE
Description
Word order
Value (hex)
Sub header
1
0050
2
FF00
3
03FF
4
8C00
5
1000
6
0100
7
0014
8
B800
9
000B
10
40A8
11
..00
12
....
13
....
...
....
75
....
Destination I/O No.
CPU monitoring timer
Command
(h1401 batch write)
Subcommand
Starting Address
(h0BB8 D3000)
Data type
(hA8 D-register)
Reading data length
(h40 64 points)
...
High byte
MC Protocol for Batch Write
It is important to understanding how the data are handled, because the order of the bytes is correct however they have been shifted by one byte within the PLC (see the data table).
The Mitsubishi PLC is always using words, so it is necessary to create form the shifted byte data,
values using a word format. This could be done by a for-next loop that rearranges the high byte
and low byte and puts them in a readable word format.
5 - 18
MC Protocol Communication
5.3.6
Communication
Setting for MC protocol communication
Setting for communication using the MC protocol is described below.
Set the items of following to in the "Built-in Ethernet Port Setting" of the "Basic Setting" of
MT Developer2.
Communication data code
Select a communication data code used for the MC protocol, Binary code or ASCII code.
Enable online change (MC protocol)
Check the checkbox to enable online change when writing data to the Motion controller from
the external device that communicates using the MC protocol.
For details on the available functions with this setting, refer to section 5.3.3.
Motion controller MR-MQ100
5 - 19
Communication
MC Protocol Communication
Open Setting
Set the following items.
– Protocol ()
Select a connection used as MC protocol. (Up to 16 CPU modules can be connected.)
– Open System ()
Select MC protocol.
– Host Station Port No. (Required) ()
Set the host station port number (in hexadecimal).
Setting range:
0401H–1387H, 1392H–FFFEH
NOTE
5 - 20
When the "Enable online change (MC protocol)" box is unchecked, if a data write request is sent
from an external device to the Motion controller which is in the RUN status, data will not be written to the Motion controller and the module returns the NAK message.
FX3U/FX3G Communication
Communication
5.4
FX3U/FX3G Communication
5.4.1
Hardware Configuration
MR-MQ100
FX3U
FX3G
FX3U-ENET
Ethernet Hub
IP Address:
192.168.0.13
Fig. 5-12:
IP Address:
192.168.0.2
Ethernet communication via Hub
Reading data
Connection No. 1
Port (h0402)
Port (h0402)
Connection No. 2
Connection No. 3
Connection No. 4
Motion controller MR-MQ100
Port (h0403)
Port (h0403)
Writing data
5 - 21
Communication
5.4.2
FX3U/FX3G Communication
Software Configuration
The FX3U-ENET module requires the following configuration by FX Configurator-EN.
Set the module number:
Module 0
Set communication data
code: Binary code
Set the IP address:
192.168.0.13
5 - 22
FX3U/FX3G Communication
Communication
The MR-MQ100 requires the following configuration by MT Developer2.
Set the IP address:
192.168.0.2
Set communication data
code: Binary code
Enable MC Protocol:
Activate
MC Protocol setting:
Port No. h0402
for reading data
Port No. h0403
for writing data
Motion controller MR-MQ100
5 - 23
Communication
5.4.3
FX3U/FX3G Communication
PLC Programming
The FX3U PLC CPU requires a program where the MC Protocol is generated and send out via Ethernet
module to MR-MQ100 for reading and writing devices.
There are 2 program examples shown for GX Developer and GX IEC Developer.
GX Developer ladder program for reading D2000–D2063 from MR-MQ100
Read module status
!
"
§
Open connection UDP to Remote IP 192.168.0.2 and Port No. H402
$
%
&
/
(
Open connection UDP to Remote IP 192.168.0.2 and Port No. H403
)
at
ak
al
am
Close connection
an
ao
ap
Fig. 5-13: Ladder program (1)
5 - 24
FX3U/FX3G Communication
Communication
Number
Description
!
Read FX3U-ENET status
"
Read Connection no. 1 status
§
Read Connection no. 3 status
$
Connection no. 1 setup
%
Local Port No. h0402
&
Destination IP Address
/
Destination Port No. h0402
(
Open command
)
Connection no. 3 setup
at
Local Port No. h0403
ak
Destination IP Address
al
Destination Port No. h0403
am
Open command
an
Close command Con. no. 1
ao
Close command Con. no. 3
ap
[COM.ERR.] LED Off request
Tab. 5-8:
Description of the ladder program (1) in fig. 5-13
Motion controller MR-MQ100
5 - 25
Communication
FX3U/FX3G Communication
Send batch read command D2000–D2063
!
"
§
$
%
&
/
(
)
at
ak
al
am
Received data stored in D10–D79 and data length stored in D200
an
ao
ap
aq
ar
as
bt
bk
bl
bm
bn
bo
Fig. 5-14: Ladder program (2)
5 - 26
FX3U/FX3G Communication
Communication
Number
Description
!
Data length for Fix Buffer 2
"
MC frame (Subheader)
§
MC frame (Net. & PC No.)
$
MC frame (Module I/O No.)
%
MC frame (Data length)
&
MC frame (Mon. timer)
/
MC frame (Command)
(
MC frame (Sub-Command)
)
MC frame (Starting address)
at
MC frame (Starting address)
ak
MC frame (Data type & length)
al
MC frame (Data length)
am
Send command
an
Receive status
ao
Receive data length in byte
ap
Add 1 to byte for even value
aq
Divide by 2 to get word length
ar
Read data to D10
as
Read complete
bt
Receive data length low byte
bk
Receive data length high byte
bl
Receive data length in bytes
bm
Receive data length in words
bn
Initial Index Register
bo
Initial Index Register
Tab. 5-9:
Description of the ladder program (2) in fig. 5-14
Motion controller MR-MQ100
5 - 27
Communication
FX3U/FX3G Communication
Convert received data and store in D2000–D2063
!
"
§
$
%
&
/
(
)
at
ak
Fig. 5-15: Ladder program (3)
Number
Description
!
For loop
"
Split value
§
Rotate data right
$
WORD AND with hex FF
%
Increment Z1
&
Split value
/
Rotate data left
(
WORD AND with hex FF
)
Store converted value
at
Increment Z2
ak
Next command
Tab. 5-10: Description of the ladder program (3) in fig. 5-15
NOTE
5 - 28
The received data which are stored in the buffer memory of the FX3U-ENET module, the low and
high bytes are swapped. The program above converts the received data and store them in the
data register D2000–D2063.
FX3U/FX3G Communication
Communication
GX IEC Developer program with function block for reading D2000–D2063 from MR-MQ100
Fig. 5-16: Ladder diagram Batch Read
Input variables
Explanation
HeadAddress
Head address of the FX3U-ENET module
Connection No
Connection number
ExistenceCheck
Set the usage of the destination existence check
LocalPortNo
Set the local station port number (h0402)
RemIPAddress
IP Address of the remote device station (192.168.0.2)
RemPortNo
Port number of the remote device station (h0402)
EnableConn
Open the communication connection
EnableRead
Start the MC Protocol batch read command
ReadDeviceCode
Set the device type (A8 씮 D-register)
ReadHeadAddress
Set the start device address (2000 씮 D2000)
ReadNoOfDevices
Set the number of devices (64 씮 D2000–D2063)
Ouput variables
Explanation
InitComplete
Initialization procedure completed
OpenComplete
Connection status
ReadComplete
MC Protocol Batch Read command completed
MCReadData
Device Array with read data
NoOfReadWords
Number of data words read in MCReadData array
MCRequestError
MC Protocol error occurred
MCErrorCode
MC Protocol error code
CommError
Communication error occurred
CommErrorCode
Communication error code
Motion controller MR-MQ100
5 - 29
Communication
FX3U/FX3G Communication
GX IEC Developer program with function block for writing D3000–D3063 to MR-MQ100
Fig. 5-17: Ladder diagram Batch Write
5 - 30
Input variables
Explanation
HeadAddress
Head address of the FX3U-ENET module
Connection No
Connection number
ExistenceCheck
Set the usage of the destination existence check
LocalPortNo
Set the local station port number (h0403)
RemIPAddress
IP Address of the remote device station (192.168.0.2)
RemPortNo
Port number of the remote device station (h0403)
EnableConn
Open the communication connection
EnableWrite
Start the MC Protocol batch write command
WriteDeviceCode
Set the device type (A8 씮 D-register)
WriteHeadAddress
Set the start device address (3000 씮 D3000)
WriteNoOfDevices
Set the number of devices (64 씮 D3000–D3063)
MCWriteData
Device Array with write data
Ouput variables
Explanation
InitComplete
Initialization procedure completed
OpenComplete
Connection status
WriteComplete
MC Protocol Batch Write command completed
MCRequestError
MC Protocol error occurred
MCErrorCode
MC Protocol error code
CommError
Communication error occurred
CommErrorCode
Communication error code
Sample project creation with MT Developer2
6
Project creation
Project creation
NOTE
6.1
The sample programs, described in this manual can be downloaded free of charge through the
website www.mitsubishi-automation.com/mymitsubishi/mymitsubishi_content.html.
Sample project creation with MT Developer2
New project creation
Start MT Developer2 and create a new
project with CPU and OS Type selected as
shown left.
After clicking OK in the New Project Window, the MT Developer2 project window will appear, as
shown below.
Motion controller MR-MQ100
6-1
Project creation
Sample project creation with MT Developer2
System Structure Settings
Double-click the amplifier icon (SSCNET
Structure) to confirm the set amplifier type
is correct.
If any I/O are wired to the amp, such as home
or limit sensors, select the Detail Setting tab
and set the External Signal Input Setting to
Amplifier Input Valid.
Servo Data Settings and Parameter Block
In the "MT Developer2 Project Window
Menu", double-click Servo Data to bring up
the "Servo Data" tab.
Edit the settings so that they match the
screenshot shown in the left figure.
– "Travel Value/Rev." should represent how far the load moves for every rotation of the motor.
6-2
Sample project creation with MT Developer2
Example Project creation
The ball screw lead is 5 mm and the mechanical gear ratio is 1/5.
Servomotor:
Unit setting:
Number of Pulses/Rev.:
Travel Value/Rev.:
HF-KP43
mm
262 144 [PULSES]
1/5 x 5 000.0 = 1 000.0 [μm]
Fig. 6-1:
Mechanical configuration of the
example
Gear ratio 1 : 5
5 mm
– "Upper stroke limit" and "Lower stroke limit" enable software stroke limits.
Fig. 6-2:
Stroke limits
Stroke range
(Machine motion range)
Stroke limit
(Lower limit value)
Stroke limit
(Upper limit value)
– "Exec.Sv.Prog." will allow the servo programs to be executed even if the servo motor has not
yet been homed. If "Not Exec.Sv.Prog." is selected and the servo has not been homed, the servo
programs will stop and an error will occur.
Motion controller MR-MQ100
6-3
Project creation
Sample project creation with MT Developer2
– The Parameter Blocks, accessible by the "Servo Data" menu, serve to make setting changes
easy by allowing data such as the acceleration/deceleration control to be set for each positioning processing.
A maximum of 64 blocks can be set as parameter blocks.
Speed limit value
Speed
Rapid stop cause occurrence
Positioning
speed set in
the servo
program
Time
Real acceleration time
Set acceleration time
Set rapid stop
deceleration
time
Real rapid stop
deceleration time
Real deceleration time
Set deceleration time
Fig. 6-3:
6-4
Time diagram for setting of parameter blocks
Sample project creation with MT Developer2
Project creation
Servo Parameter Settings
In the "Project Window Menu", double-click Servo Parameter. This will launch the servo setup
software called MR Configurator.
Please change the following parameter in the "Basic setting":
● PA04: 0100
(Disabling the EMG input on servo amplifier. This will allow the amplifier to operate
regardless of forced stop input status.)
● PA14: 0 or 1 according to the motor rotation direction (CW or CCW)
and click OK.
NOTE
Launching MR Configurator from within MT Developer2 is not the same as launching MR Configurator from the Windows Start Menu. Opening from within MTD2 allows changes to servo
parameters to be saved within the MTD2 project files.
Motion controller MR-MQ100
6-5
Project creation
Sample project creation with MT Developer2
Motion SFC Program Creation
In the "Project Window Menu" under "Motion SFC Program", double-click Motion SFC Program
Manager. This open the "Motion SFC Program Manager" pop-up window.
Click the icon New which opens up the "New Motion SFC Program" window. Set the Motion SFC
Program No. to "1", enter "1 Axis JOG" as the program name and then click OK.
In the "Project Window Menu" under “Motion SFC Program”, double-click Motion SFC Parameter.
This open the “Motion SFC Parameter” pop-up window.
Double-click program 1 and then change the Start Setting to "Automatic Start".
Then close this window.
6-6
Sample project creation with MT Developer2
Project creation
Prepare an SFC program. The sample program below allows a simple forward and backward
movement of Axis 1.
Step
Description
5a
Add an F-block, 2 x G-block, 2 x K-block, a Jump, and a Pointer to the program by left-clicking the respective button on the menu bar
and left-clicking in the program workspace. Press the Esc key (or right click) after adding each block to the workspace.
5b
Double-click the F-block, enter "0" for the program number. Next, press Enter or click the Edit button. In the Program Editor window,
type "SET M2402". The common system device M2402 enables "Servo On" for all axes when set.
5c
Double-click the G-block, enter "0" for the program number. Next, press Enter and then input the text "M2415". The axis status device
M2415 shows if axis 1 is ready. We are telling the controller to wait until the axis is fully initialized before moving on to the next step.
Without such a delay in front of a motion command (K-block), an error is likely to occur.
5d
Double-click the K-block, enter "1" for the program number. Next, press Enter and select "Linear Interpol." as the Command Class and
"INC-1" as the Servo Command. Click OK. The Servo Program Editor window will now open.
In the Servo Program Editor window, set the Axis to 1 and the travel amount to 20000 PLS. Then set the Speed to 20000 PLS/s.
5e
Repeat step 5c.
5f
Repeat step 5d changing the travel amount to -20000 PLS.
5g
Connect each function block to the one after it by clicking the Connect button from the menu bar and then left-clicking on one block
and dragging to the next box.
Tab. 6-1:
Detailed procedure for preparing the SFC program
Motion controller MR-MQ100
6-7
Project creation
Sample project creation with MT Developer2
File Conversion, Download and Program Run
Click the Batch Conversion button from the menu bar. If all steps were followed correctly, you
should receive a "Complete successfully" message in the output bar at the bottom of the screen.
Batch
conversion
Output
screen
Transfer programs and parameters to the Motion controller using the setting in the screenshot
below.
6-8
Sample project creation with MT Developer2
Project creation
Please refer to the "Writing project to the Motion controller" section of this quick-start guide for
further details on writing/reading programs (section 6.2.2).
Enjoy your program!
Cycle the power supply of MR-MQ100 and MR-J3 servo both.
According to the program, you created, the motor will automatically rotate 1 revolution in both
directions. The movement will be stopped by using RUN/STOP switch at the MR-MQ100 front
panel.
Motion controller MR-MQ100
6-9
Project creation
Additional procedures
6.2
Additional procedures
6.2.1
Project opening
This section explains the method for reading a project saved in the hard disk or other memory media
of the personal computer.
Operating Procedure (MT Developer2 project)
Select "Project" - "Open Project". The "Open
Project" window appears.
Enter the folder (drive/path), where the
workspace is saved, in the Folder field.
Double click Workspace in the "Workspace/
Project List".
Select the project data. Details of the specified project data are displayed in the
"Project Name" and "Title" columns.
Click the Open button.
6.2.2
Writing project to the Motion controller
This section explains the method for writing a project saved in the hard disk or other memory media
of the personal computer to the Motion controller internal memory.
Operating Procedure (MT Developer2)
Select "Online" - "Write to CPU". The "Write to CPU" screen appears.
Select Program memory as target memory
to write to.
Click on Parameter+ Program to select the
data to be written.
Click the Execute button.
When a password is registered, the Password Check dialog box appears.
When program write is to be executed, a
message appears if there are programs that
have not been converted.
6 - 10
Additional procedures
Project creation
The screen on the left appears if the motion
controller is in RUN mode.
Click the OK button.
Once download is complete, another message will appear asking if you would like to place the
controller back in Run mode. Again, select Yes and then Close.
The specified data is written to the target memory. When writing is completed, the dialog box
appears notifying the process completion.
Motion controller MR-MQ100
6 - 11
Project creation
6.2.3
Additional procedures
Monitoring function
Operating Procedure
Click the monitor icon of the application
jump toolbar on the main frame.
Monitor is started.
Clicking on the buttons in the shown toolbar is possible to select the devices to be monitored:
– Current value monitor
– Motion error
– Axis monitor
– Servo Monitor
– Positioning monitor
– …
NOTE
6 - 12
Refer to MT Developer2 Help for further information.
Tip: Press function key "F1" for immediate help on displayed function.
Additional procedures
6.2.4
Project creation
Device monitoring and testing
Operating Procedure (MT Developer2)
Select "Online" - "Monitor" - "Commons" - "Entry Device Monitor".
The "Device Entry Monitor" screen appears.
Click Add. The "Device"/"Label" windows appears.
Select the device to be monitored and then push Register button.
The chosen devices will be displayed in the "Device Entry Monitor".
Click Close.
Click Start Monitoring button. The actual values of the registered devices will be displayed in the
column "Value".
Double-click the value of the Device to be
tested. The "Device Test" window appears.
Click Set or Reset to test the selected bit
device or Write Data to write a value into
the selected register.
Motion controller MR-MQ100
6 - 13
Project creation
6 - 14
Additional procedures
Flying Saw application
Application Example for MR-MQ100
7
Application Example for MR-MQ100
7.1
Flying Saw application
7.1.1
What is a Flying Saw?
In a flying saw web-cut application, the material to be cut is fed on a continuous conveyor that is driven by an open-loop motor. The saw is mounted on a carriage under servo control that runs parallel to
the conveyor. The saw accelerates to meet the velocity of the material to perform the cut at the correct
location. When the cut is complete, the saw rapidly decelerates and moves back to the starting position to begin the next cutting cycle. This results in equal length pieces of material being fed to the
next machine process.
Flying saw applications don't always involve a saw and can be utilized in a variety of industries for:
– Steel/paper cutting
– Wood machining
– Drilling/embossing
– Filling/sorting
– …
There are 2 typical types for starting of the synchronisation:
● Cutting length control
An encoder on the material registers the material speed and position of the production process.
A length calculator calculates equidistant lengths in the controller and generates a start signal for
the synchronising process. The advantage of cutting length control is that no cutting marks are
required on the material.
● Cutting mark control
A sensor registers the cutting marks present on the material. This sensor signal is processed as an
interrupt in the drive and starts the sawing process. This method is used if there are cutting marks
on the material which have to be referred to, e. g. when using printed materials.
Motion controller MR-MQ100
7-1
Application Example for MR-MQ100
Flying Saw application
Servomotor
Diameter of
encoder wheel
d1
Sensor 1
for mark
detection
Master
encoder
Fig. 7-1:
Typical construction of a flying saw
Speed ratio
Returning
Master
Dwell
Fig. 7-2:
7-2
Accl.
Sychronous
cutting area
Dec.
Relationship between speed ratio of the Master axis and the slave axis
Flying Saw application
7.1.2
Application Example for MR-MQ100
Machine parameters
Servo motor
Mechanical
gear ratio
Encoder
resolution
Ball screw
pitch
Fig. 7-3:
Mechanical construction of slave axis controlled by servo drive
Data of the mechanical construction with the slave axis:
– Encoder resolution:
262 144 p/rev
– Mechanical gear ratio:
1:1
– Ball screw pitch:
10 mm
Fixed parameter settings:
– Number of Pulses/Rev. :
262 144 x 1 = 262 144 [PLS]
– Travel Value/Rev. :
10 mm
Fig. 7-4:
d1
Diameter of
encoder wheel
= 10 000.0 [μm]
Mechanical construction master axis
with external encoder
Master encoder
Data of the mechanical construction with the master axis
– Diameter of wheel:
Circumference:
50.93 mm
50.93 mm x π = 160 mm
– Encoder resolution:
2 048 pulses/Rev.
2 048 x 4 = 8 192 edges/Rev.
7.1.3
Configuration
1 x MR-MQ100
1 x MR-J3-쏔B with MR-J3 Motor
1 x External incremental Encoder (Open collector/Differential line driver)
1 x External sensor 24 V for mark detection
Motion controller MR-MQ100
7-3
Application Example for MR-MQ100
7.1.4
Flying Saw application
Software
The powerful programming tool MT Developer2-MQ and MR Configurator helps you to setup, program, tune and easily monitor your system.
System Structure
Pulse generator/
Synchronous encoder
External encoder will be set
active to follow the line speed.
One MR-J3-_B can connected.
The axis no. rotary switch must
be set to 0.
J3
1
d01
Electronic gear to adapt the
mechanical construction to the
servo system.
Home Position Return method
can be set according to the type
needed.
7-4
Flying Saw application
Application Example for MR-MQ100
Mechanical System:
P1
Spindle gear must be set
corresponding to the encoder resolution and motor
movement.
Synchronous encoder
connected at the line shaft.
Smoothing clutch is set to
have a smooth movement
for the synchronisation.
Auxiliary spindle gear ratio
must be set equal to main
spindle gear ratio.
V.1
Axis 1
Ball screw output module
is used for the real servo
motor.
Virtual motor is used for the
linear movement back to the
start position.
Calculation of spindle gear ratio based on pls/mm:
Motor:
Fixed parameter:
Travel Value/Rev. :
Number of Pulses/Rev. :
10 000.0 [μm]
262 144 [PLS]
Encoder: Wheel circumference: 160 mm
Encoder resolution:
2 048 pls/rev x 4 = 8 192 pls/rev
The gear ratio input G = Motor / Encoder is calculated according the following formula:
( 262144 [pls] ) ⁄ ( 10 [mm] )
512
G = ----------------------------------------------------------------- = --------( 8192 [pls] ) ⁄ ( 160 [mm] )
1
Motion controller MR-MQ100
7-5
Application Example for MR-MQ100
7.1.5
Flying Saw application
Variables
Variable
Function
PX0
Mark sensor
PX1
Cutting Cmd
PY0
Home position return complete
PY1
Cutting
M0
Clutch ON/OFF Cmd
M1
Clutch ON/OFF Status
M2
Clutch Smoothing Status
M3
Phase compensation Cmd
True = Sensor Control
M10
False = Length Control
D6000
Clutch Mode
D6006
Phase compensation advance time
D6008
Phase compensation time constant
D6010
Phase compensation amount monitor
D6020
Clutch Slippage Dev.
D6022
Clutch Slippage Range
D6030
Speed of Virtual motor V1
D4000
Wheel circumference
D4002
Encoder resolution
D4004
Synchronous moving distance [mm]
D4006
Distance sensor to start [mm]
D4008
Cutting length [mm], PY01 ON
D4010
Cutting On distance [mm], PY01 OFF
D4100
Line speed [mm/s]
#0
Encoder pulses per mm [pls/mm]
#2
Moving distance [pls]
#4
Distance sensor to start [pls]
#6
Cutting length [pls]
#8
Cutting on distance [pls]
#10
Temp. value calculation of line speed
#12
Temp. value calculation of line speed
#14
CAM switch ON addr. PY01
#16
CAM switch OFF addr. PY01
#20
Mark detection counter
#22
Backup actual encoder value
Tab. 7-1:
Variable definition
Phase compensation
The phase compensation advance time (D6006) is set according the formula below:
Advance time = System delay time + 1/PG1 (Model gain of Servo amplifier)
D6006
7-6
= 1 088 [μs] + 1/150 [s]
= 1 088 [μs] + 6 667 [μs]
= 7 755 [μs]
Flying Saw application
7.1.6
Application Example for MR-MQ100
SFC Program
Main (0):
Main program for setting the initial
values and setting servo on command.
SFC Parameter:
Normal Task
Autostart: Yes
Fig. 7-5:
SFC program Main (0)
Motion controller MR-MQ100
7-7
Application Example for MR-MQ100
Flying Saw application
HomePosReturn (1):
Execution of the Home position return
function.
SFC Parameter:
Normal Task
Autostart: No
DataCopy (2):
Program for calculation the line speed of
the material.
SFC Parameter:
Event Task: 0.8ms Cycle
Autostart: Yes
Fig. 7-6:
7-8
SFC programs HomePosReturn (1) and DataCopy (2)
Flying Saw application
Application Example for MR-MQ100
SensorControl (10):
Program for synchronisation of the
servo to encoder using the mark
detection function.
SFC Parameter:
Normal Task
Autostart: No
Fig. 7-7:
SFC program SensorControl (10)
Motion controller MR-MQ100
7-9
Application Example for MR-MQ100
Flying Saw application
LengthControl (11):
Program for synchronisation of the servo
to encoder fixed length without mark
detection function.
SFC Parameter:
Normal Task
Autostart: No
Fig. 7-8:
7 - 10
SFC program LengthControl (11)
Exterior Dimensions
Appendix
A
Appendix
A.1
Exterior Dimensions
Unit: [mm]
Without battery
154
178
168
161
8
With battery (Q6BAT)
6
7
135
Fig. A-1:
4
6
30
30
Dimensions of MR-MQ100
Motion controller MR-MQ100
A-1
Appendix
A.2
Troubleshooting
Troubleshooting
The following flowcharts show the contents of the troubles with the motion controllers classified into
a variety of groups according to the types of events.
Error-occurrence description
"POWER" LED turns off
" . " does not flash in the first digit of
7-segment LED
"A00" displays on 7-segment LED
"AL" "L01" displays on 7-segment LED
"AL" "A1" "쏔" displays on
7-segment
"BT쏔" displays on 7-segment LED
NOTE
A-2
(b) "Flowchart for when " . " does not flash in the first digit of
7-segment LED"
(c) "Flowchart for when "A00" displays on 7-segment LED"
(d) "Flowchart for when "AL" "L01" displays on 7-segment LED"
(e) "Flowchart for when "AL" "A1" "첸" displays on 7-segment LED"
(f ) "Flowchart for when "BT첸" displays on 7-segment LED"
"…" displays on 7-segment LED
(g) "Flowchart for when " …" displays on 7-segment LED"
Servo amplifier does not start
(h) "Flowchart for when the Servo amplifier does not start
"AL" "S01" displays on 7-segment LED
Fig. A-2:
(a) "Flowchart for when "POWER LED" turns off"
(i) "Flowchart for when "AL" "S01" displays on 7-segment LED"
Troubleshooting flowchart for MR-MQ100
The procedure of fault finding for each event group (a) to (i), mentioned on the right side of the
above flowchart, is described in chapter 6 of the user’s manual of the motion controller
MR-MQ100.
Internal devices
A.3
NOTE
Appendix
Internal devices
In all following tables the unusable areas of the internal devices are marked with grey colour.
(
)
Real mode
Virtual mode
Device No.
Device Name
Device No.
Device Name
M0
to
User device
(2 000 points)
M0
to
User device
(2 000 points)
M2000
to
Common device
(320 points)
M2000
to
Common device
(320 points)
M2320
to
Unusable
(80 points)
M2320
to
Unusable
(80 points)
M2400
to
Axis status
(20 points × 1 axis)
M2400
to
Axis status
(20 points × 1 axis)
M2420
to
Unusable
(652 points)
M2420
to
Unusable
(652 points)
M3072
to
Common device (Command signal)
(64 points)
M3072
to
Common device (Command signal)
(64 points)
M3136
to
Unusable
(64 points)
M3136
to
Unusable
(64 points)
M3200
to
Axis command signal
(20 points × 1 axis)
M3200
to
Axis command signal
(20 points × 1 axis)
M3220
User device
(4 972 points)
M3220
to
Unusable
(780 points)
M4000
to
Virtual servomotor axis status
(20 points × 8 axes)
M4160
to
Unusable
(480 points)
M4640
to
Synchronous encoder axis status
(4 points × 1 axis)
M4644
to
Unusable
(156 points)
M4800
to
Virtual servomotor axis command signal
(20 points × 1 axis)
M4820
to
Unusable
(480 points)
M5440
to
Synchronous encoder axis command
signal
(4 points × 1 axis)
M5444
to
Unusable
(44 points)
M5488
to
M12287
User device
(2 704 points)
to
M12287
Tab. A-1:
Internal relay list
Motion controller MR-MQ100
A-3
Appendix
Internal devices
Real mode
Virtual mode
Device No.
Device Name
Device No.
Device Name
D0
to
Axis monitor device
(20 points × 1 axis)
D0
to
Axis monitor device
(20 points × 1 axis)
D20
to
Unusable
(620 points)
D20
to
Unusable
(620 points)
D640
to
Control change register
(2 points × 8 axes)
D640
to
Control change register
(2 points × 8 axes)
D656
to
Unusable
(48 points)
D656
to
Unusable
(48 points)
D704
to
Common device (Command signal)
(54 points)
D704
to
Common device (Command signal)
(54 points)
D758
to
Unusable
(42 points)
D758
to
Unusable
(42 points)
D800
User device
(7 392 points)
D800
to
Virtual servomotor axis monitor device
(10 points × 8 axes)
D880
to
Unusable
(240 points)
D1120
to
Synchronous encoder axis monitor
device
(10 points × 1 axis)
D1130
to
Unusable
(110 points)
D1240
to
Cam axis monitor device
(10 points × 1 axis)
D1250
to
Unusable
(110 points)
D1560
to
D8191
User device
(6 632 points)
to
D8191
Tab. A-2:
A-4
Data register list
Internal devices
Appendix
Real/virtual mode common
Device No.
Device Name
#0
to
User device
(8 000 points)
#7912
to
Mark detection setting device
(88 points)
#8000
to
Monitor device 2
(20 points × 1 axis)
#8020
to
Unusable
(620 points)
#8640
to
Motion error history device
(96 points)
#8736
to
Unusable
(160 points)
#8896
to
Mark detection monitor device
(320 points)
#8916
to
#12287
Unusable
(3 372 points)
Tab. A-3:
Motion register list
Motion controller MR-MQ100
A-5
Appendix
Internal devices
Common devices (M)
Common devices (Command)
Device No.
Device Name
Device No.
Device Name
M2000
PLC ready flag
M3072
PLC ready flag
M2001 to
Start accept flag
M3073
Speed switching point specified flag
M2009 to
M2033
Unusable
M2034
M2035
M2036
M2037
M2038
Unusable
Motion SFC debugging flag
M2039
Motion error detection flag
M2040
Speed switching point specified flag
M2041
System setting error flag
M2042
All axes servo ON command
M2043
Real mode/virtual mode switching
request (SV22)
M2044
Real mode/virtual mode switching status
(SV22)
M2045
Real mode/virtual mode switching error
detection signal (SV22)
M2046
Out-of-sync warning (SV22)
M2047
Motion slot fault detection flag
M2048
JOG operation simultaneous start
command
M2049
All axes servo ON accept flag
M2050
Unusable
M2051
Manual pulse generator 1 enable flag
M2052
M2053
Unusable
M2054
Operation cycle over flag
M2055 to
Unusable
M2061 to
Speed changing accepting flag
M2069 to
Unusable
M2101 to
Synchronous encoder current value
changing flag
M2109 to
Unusable
M2128 to
Automatic decelerating flag
M2136 to
Unusable
M2240 to
Speed change "0" accepting flag
M2248 to
Unusable
M2272
Control loop monitor status
M2273 to
M2319
Unusable
Tab. A-4:
A-6
Motion error history clear request flag
Common devices (M)
M3074
All axes servo ON command
M3075
Real mode/virtual mode change request
(SV22)
M3076
JOG operation simultaneous start
command
M3077
Manual pulse generator 1 enable flag
M3078
M3079
M3080
Unusable
Motion error history clear request flag
Internal devices
Appendix
Device No.
Device Name
D704
PLC ready flag request
D705
Speed switching point specified flag request
D706
All axes servo ON command request
D707
Real mode/virtual mode switching request
D708
JOG operation simultaneous start command request
D709
Unusable
D710
D711
JOG operation simultaneous start
axis setting register
D712
D713
D714
Manual pulse generator axis 1
No. setting register
D715
D716
D717
Unusable
D718
D719
D720
Axis 1
Manual pulse generators
1 pulse input magnification setting register
D721
D722
D723
D724
D725
D726
D727
D728
D729
D730
D731
D732
D733
D734
D735
D736
Unusable
D737
D738
D739
D740
D741
D742
D743
D744
D745
D746
D747
D748
D749
D750
D751
Tab. A-5:
Common devices (D) (1)
Motion controller MR-MQ100
A-7
Appendix
Internal devices
Device No.
Device Name
D752
Manual pulse generator 1 smoothing magnification setting register
D753
Unusable
D754
D755
Manual pulse generator 1 enable flag request
D756
Unusable
D757
Tab. A-5:
Common devices (D) (2)
Axis status
Axis 1
Axis command signal
Axis 1
Positioning start complete
M2400
Stop command
M3200
Positioning complete
M2401
Rapid stop command
M3201
In-position
M2402
Forward rotation JOG start command
M3202
Command in-position
M2403
Reverse rotation JOG start command
M3203
Speed controlling
M2404
Complete signal OFF command
M3204
Speed/position switching latch
M2405
Speed/position switching enable command
M3205
Zero pass
M2406
Unusable
M3206
Error detection
M2407
Error reset command
M3207
M3208
Servo error detection
M2408
Servo error reset command
Home position return request
M2409
External stop input disable at start command M3209
Home position return complete
External signals
M2411
Unusable
M3210
M3211
RLS
M2412
Feed current value update request command M3212
Unusable
M2413
Address clutch reference setting command M3213
DOG/CHANGE
M2414
Cam reference position setting command
M3214
M2415
Servo OFF command
M3215
Servo ready
Torque limiting
M2416
Gain changing command
M3216
Unusable
M2417
Unusable
M3217
Virtual mode continuation operation disable
warning
M2418
Control loop changing command
M3218
M-code outputting
M2419
FIN signal
M3219
Axis status (Common device)
Axis 1
Start accept flag
M2001
Speed change accepting flag
M2061
Automatic decelerating flag
M2128
Speed change "0" accepting flag
M2240
Axis status (Common device)
Axis 1
Control loop monitor status
M2272
Tab. A-6:
A-8
M2410
FLS
Internal relays (M) – Common
It is unusable in the real mode.
Internal devices
Appendix
Virtual Servomotor axis status
Axis 1
Virtual Servomotor axis command signal
Axis 1
Positioning start complete
M4000
Stop command
M4800
Positioning complete
M4001
Rapid stop command
M4801
Unusable
M4002
Forward rotation JOG start command
M4802
Command in-position
M4003
Reverse rotation JOG start command
M4803
Speed controlling
M4004
Complete signal OFF command
M4804
M4005
Unusable
M4006
Error detection
Unusable
Unusable
M4805
M4806
M4007
Error reset command
M4807
M4008
Unusable
M4808
M4009
External stop input disable at start command M4809
M4010
M4810
M4011
M4811
M4012
M4812
M4013
M4014
M4813
Unusable
M4814
M4015
M4815
M4016
M4816
M4017
M4817
M4018
M4818
M-code outputting
M4019
FIN signal
M4819
Synchronous encoder axis status
Axis 1
Synchronous encoder axis command
signal
Axis 1
Error reset
Error detection
M4640
Unusable
M4641
Virtual mode continuation operation disable
warning
M4642
Unusable
M4643
Axis status (Common device)
Axis 1
Synchronous encoder current value
changing flag
M2101
Tab. A-7:
M5440
M5441
Unusable
M5442
M5443
Internal relays (M) – Virtual mode
It is unusable in the real mode.
Motion controller MR-MQ100
A-9
Appendix
Internal devices
Axis monitor devices
Axis 1
Feed current value/
roller cycle speed (Virtual Mode)
D0
Real current value
Deviation counter value
D1
D5
D7
Servo error code
D8
Home position return re-travel value
D9
D10
D11
Execute program No.
D12
M-code
D13
Torque limit value
D14
D15
D16
Unusable
D17
Real current value at stop input
D18
D19
Data register (D) – Common
Virtual servomotor axis monitor devices
Feed current value
Axis 1
Cam axis monitor devices
Axis 1
D800
Unusable
D1240
D801
Execute cam No.
D1241
Minor error code
D802
Major error code
D803
Execute program No.
D804
M-code
D805
Current value after virtual servomotor axis
main shaft's differential gear
D806
D807
Error search output axis No.
D808
Data set pointer for constant-speed control
D809
Synchronous encoder axis monitor devices Axis 1
D1120
Current value
D1121
Minor error code
Major error code
D1122
D1123
D1124
Unusable
D1125
Current value after synchronous encoder axis D1126
main shaft's differential gear
D1127
Error search output axis No.
D1128
Unusable
D1129
Tab. A-9:
A - 10
D641
D4
Major error code
Tab. A-8:
D640
D3
D6
Data set pointer for constant-speed control
JOG speed setting
Axis 1
D2
Minor error code
Travel value after proximity dog ON
Axis monitor devices
Data registers (D) – Virtual mode
Execute stroke amount
Current value within 1 cam shaft revolution
D1242
D1243
D1244
D1245
D1246
Unusable
D1247
D1248
D1249
Internal devices
Appendix
Axis monitor device 2
Axis
Motion error history devices
7 times in
past
Servo amplifier type
#8000
Error Motion SFC program No.
#8640
Motor current
#8001
Error type
#8641
#8002
Error program No.
#8642
#8003
Error block No./Motion SFC list/Line No./
Axis No.
#8727
#8004
Error code
#8728
#8005
Error occurrence time (Year/month)
#8729
#8006
Error occurrence time (Day/hour)
#8730
#8007
Error occurrence time (Minute/second)
#8731
#8008
Error setting data information
#8732
#8009
Unusable
Motor speed
Command speed
Home position return re-travel value
(Real mode only)
#8010
#8011
#8012
Unusable
Error setting data
#8733
#8734
#8735
It is the last history on 0 times.
#8013
#8014
#8015
#8016
#8017
#8018
#8019
Mark detection setting devices
Signal 1
#7912
Registration code
to
#7914
Mark detection monitor devices
Signal 1
Mark detection setting devices
Mark detection data current monitor
#8896
Mark detection signal allocation devices
#7920
Number of marks detected
#8897
Mark detection signal compensation time
#7921
#8898
Latch data type
#7922
#8899
Mark detection axis number
#7923
Mark detection settings verification flag
Unusable
to
#8911
Latch data storage area 1
Latch data storage area 2
Latch data storage area 3
Latch data storage area 4
to
Latch data storage area 32
#8912
#8913
#8914
#8915
#8916
Unusable
Latch data upper limit
Latch data lower limit
Mark detection mode
Signal 1
#7924
#7925
#7926
#7927
#7928
#7929
#7930
#8917
#7931
#8918
#7932
#8919
#7933
to
#8974
#8975
#7934
Unusable
#7935
#7936
#7937
#7938
#7939
Tab. A-10: Motion registers (#)
Motion controller MR-MQ100
A - 11
Appendix
Internal devices
Device No.
Device Name
SM0
Diagnostic error
SM1
Self-diagnosis error
SM51
Battery low latch
SM52
Battery low
SM53
AC/DC DOWN detection
SM58
Battery low warning latch
SM59
Battery low warning
SM211
Clock data error
SM400
Always ON
SM401
Always OFF
SM500
PCPU READY complete
SM501
Test mode ON
SM502
External forced stop input
SM503
Digital oscilloscope executing
SM510
TEST mode request error
SM512
Motion controller WDT error
SM513
Manual pulse generator axis setting error
SM516
Servo program setting error
SM526
Over heat warning latch
SM527
Over heat warning
SM800
Clock data set request
SM801
Clock data read request
Tab. A-11: Special relays (SM)
A - 12
Internal devices
Appendix
Device No.
Device Name
SD0
Diagnostic errors
SD1
Clock time for diagnostic error occurrence (Year/month)
SD2
Clock time for diagnostic error occurrence (Day/hour)
SD3
Clock time for diagnostic error occurrence (Minute/second)
SD4
Error information categories
SD5
to
Error common information
SD15
SD16
to
Error individual information
SD26
SD53
AC/DC DOWN counter No.
SD60
Fuse blown No.
SD200
State of switch
SD203
Operating state of CPU
SD210
Clock data (Year, month)
SD211
Clock data (Day, hour)
SD212
Clock data (Minute, second)
SD213
Clock data (Day of week)
SD290
Device assignment – Number of points assigned for X
SD291
Device assignment – Number of points assigned for Y
SD292
Device assignment – Number of points assigned for M
SD293
Device assignment – Number of points assigned for L
SD294
Device assignment – Number of points assigned for B
SD295
Device assignment – Number of points assigned for F
SD296
Device assignment – Number of points assigned for SB
SD297
Device assignment – Number of points assigned for V
SD298
Device assignment – Number of points assigned for S
SD299
Device assignment – Number of points assigned for T
SD300
Device assignment – Number of points assigned for ST
SD301
Device assignment – Number of points assigned for C
SD302
Device assignment – Number of points assigned for D
SD303
Device assignment – Number of points assigned for W
SD304
Device assignment – Number of points assigned for SW
SD502
SD503
Servo amplifier loading information
SD504
SD505
Real mode/virtual mode switching error information
SD506
SD510
SD511
SD512
Test mode request error
Motion CPU WDT error cause
SD513
SD514
Manual pulse generator axis setting error
SD515
SD516
Error program No.
SD517
Error item information
Tab. A-12: Special register (SD) (1)
Motion controller MR-MQ100
A - 13
Appendix
Internal devices
Device No.
Device Name
SD520
Scan time
SD521
Maximum scan time
SD522
Motion operation cycle
SD523
Operation cycle of the Motion CPU setting
SD700
Device assignment – Number of points assigned for #
SD720
SD721
444 μs Coasting timer
Tab. A-12: Special register (SD) (2)
A - 14
Index
Index
Symbols
# . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-11
F
FLS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
Flying Saw
Numerics
3E frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
Construction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
Principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
Frontview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
C
Full-Duplex . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
G
CCW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-8
Command message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-9
Common devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-6
Grounding
Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
Communication
Full-duplex . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-9
Wire . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
Half-duplex . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-9
H
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
CPU type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-8
Half-Duplex . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
CW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-8
Hub connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
D
D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-7
Data register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-4
Dimensions
I
I/F connector
MR-MQ100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
I/F connector cable
MR-MQ100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Differential-output type . . . . . . . . . . . . . . . . . . . . . . 3-6
Direct connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1
Open-collector type . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
DOG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-8
E
Voltage-output type . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
Internal relays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-8
IP address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
IP address display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
EMI
Abbreviation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-8
Ethernet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-7
Direct connection . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1
Hub connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1
IP address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2
Motion controller MR-MQ100
i
Index
L
LED display
R
Response message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4
RLS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
IP address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-7
Rotary switch
Link status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-7
SW1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Operation modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-6
SW2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Subnet mask pattern . . . . . . . . . . . . . . . . . . . . . . . . .2-7
Router IP address
Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
Link status
Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-7
S
M
SD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-13
M . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-6
Sideview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
MC Protokoll
SM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-12
Command message . . . . . . . . . . . . . . . . . . . . . . . . . .5-9
Software
Response message . . . . . . . . . . . . . . . . . . . . . . . . . . .5-9
version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
Module mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2
Special register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-13
Motion register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-5
SSCNET III
Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
O
Operation modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-6
OS (Operating System)
Confirmation of version . . . . . . . . . . . . . . . . . . . . . . .4-4
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-4
P
Partnames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
Power supply
Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3
Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3
Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-4
ii
Connection with MR-MQ100 . . . . . . . . . . . . . . . . . . 3-8
Subnet mask pattern
Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
SW1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
SW2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
System configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
MITSUBISHI ELECTRIC
HEADQUARTERS
EUROPEAN REPRESENTATIVES
EUROPEAN REPRESENTATIVES
MITSUBISHI ELECTRIC EUROPE B.V.
EUROPE
German Branch
Gothaer Straße 8
D-40880 Ratingen
Phone: +49 (0)2102 / 486-0
Fax: +49 (0)2102 / 486-1120
MITSUBISHI ELECTRIC EUROPE B.V. CZECH REPUBLIC
Czech Branch
Avenir Business Park, Radlická 714/113a
CZ-158 00 Praha 5
Phone: +420 - 251 551 470
Fax: +420 - 251-551-471
MITSUBISHI ELECTRIC EUROPE B.V.
FRANCE
French Branch
25, Boulevard des Bouvets
F-92741 Nanterre Cedex
Phone: +33 (0)1 / 55 68 55 68
Fax: +33 (0)1 / 55 68 57 57
MITSUBISHI ELECTRIC EUROPE B.V.
IRELAND
Irish Branch
Westgate Business Park, Ballymount
IRL-Dublin 24
Phone: +353 (0)1 4198800
Fax: +353 (0)1 4198890
MITSUBISHI ELECTRIC EUROPE B.V.
ITALY
Italian Branch
Viale Colleoni 7
I-20041 Agrate Brianza (MB)
Phone: +39 039 / 60 53 1
Fax: +39 039 / 60 53 312
MITSUBISHI ELECTRIC EUROPE B.V.
POLAND
Poland Branch
Krakowska 50
PL-32-083 Balice
Phone: +48 (0)12 / 630 47 00
Fax: +48 (0)12 / 630 47 01
MITSUBISHI ELECTRIC EUROPE B.V.
SPAIN
Spanish Branch
Carretera de Rubí 76-80
E-08190 Sant Cugat del Vallés (Barcelona)
Phone: 902 131121 // +34 935653131
Fax: +34 935891579
MITSUBISHI ELECTRIC EUROPE B.V.
UK
UK Branch
Travellers Lane
UK-Hatfield, Herts. AL10 8XB
Phone: +44 (0)1707 / 27 61 00
Fax: +44 (0)1707 / 27 86 95
MITSUBISHI ELECTRIC CORPORATION
JAPAN
Office Tower “Z” 14 F
8-12,1 chome, Harumi Chuo-Ku
Tokyo 104-6212
Phone: +81 3 622 160 60
Fax: +81 3 622 160 75
MITSUBISHI ELECTRIC AUTOMATION, Inc.
USA
500 Corporate Woods Parkway
Vernon Hills, IL 60061
Phone: +1 847 478 21 00
Fax: +1 847 478 22 53
GEVA
AUSTRIA
Wiener Straße 89
AT-2500 Baden
Phone: +43 (0)2252 / 85 55 20
Fax: +43 (0)2252 / 488 60
TEHNIKON
BELARUS
Oktyabrskaya 16/5, Off. 703-711
BY-220030 Minsk
Phone: +375 (0)17 / 210 46 26
Fax: +375 (0)17 / 210 46 26
ESCO DRIVES & AUTOMATION
BELGIUM
Culliganlaan 3
BE-1831 Diegem
Phone: +32 (0)2 / 717 64 30
Fax: +32 (0)2 / 717 64 31
Koning & Hartman b.v.
BELGIUM
Woluwelaan 31
BE-1800 Vilvoorde
Phone: +32 (0)2 / 257 02 40
Fax: +32 (0)2 / 257 02 49
INEA BH d.o.o.
BOSNIA AND HERZEGOVINA
Aleja Lipa 56
BA-71000 Sarajevo
Phone: +387 (0)33 / 921 164
Fax: +387 (0)33 / 524 539
AKHNATON
BULGARIA
4 Andrej Ljapchev Blvd. Pb 21
BG-1756 Sofia
Phone: +359 (0)2 / 817 6004
Fax: +359 (0)2 / 97 44 06 1
INEA CR d.o.o.
CROATIA
Losinjska 4 a
HR-10000 Zagreb
Phone: +385 (0)1 / 36 940 - 01/ -02/ -03
Fax: +385 (0)1 / 36 940 - 03
AutoCont C.S. s.r.o.
CZECH REPUBLIC
Technologická 374/6
CZ-708 00 Ostrava-Pustkovec
Phone: +420 595 691 150
Fax: +420 595 691 199
B:ELECTRIC, s.r.o.
CZECH REPUBLIC
Mladoboleslavská 812
CZ-197 00 Praha 19 - Kbely
Phone: +420 286 850 848, +420 724 317 975
Fax: +420 286 850 850
Beijer Electronics A/S
DENMARK
Lykkegårdsvej 17, 1.
DK-4000 Roskilde
Phone: +45 (0)46/ 75 76 66
Fax: +45 (0)46 / 75 56 26
Beijer Electronics Eesti OÜ
ESTONIA
Pärnu mnt.160i
EE-11317 Tallinn
Phone: +372 (0)6 / 51 81 40
Fax: +372 (0)6 / 51 81 49
Beijer Electronics OY
FINLAND
Jaakonkatu 2
FIN-01620 Vantaa
Phone: +358 (0)207 / 463 500
Fax: +358 (0)207 / 463 501
UTECO A.B.E.E.
GREECE
5, Mavrogenous Str.
GR-18542 Piraeus
Phone: +30 211 / 1206 900
Fax: +30 211 / 1206 999
MELTRADE Ltd.
HUNGARY
Fertő utca 14.
HU-1107 Budapest
Phone: +36 (0)1 / 431-9726
Fax: +36 (0)1 / 431-9727
Beijer Electronics SIA
LATVIA
Vestienas iela 2
LV-1035 Riga
Phone: +371 (0)784 / 2280
Fax: +371 (0)784 / 2281
Beijer Electronics UAB
LITHUANIA
Savanoriu Pr. 187
LT-02300 Vilnius
Phone: +370 (0)5 / 232 3101
Fax: +370 (0)5 / 232 2980
ALFATRADE Ltd.
MALTA
99, Paola Hill
Malta- Paola PLA 1702
Phone: +356 (0)21 / 697 816
Fax: +356 (0)21 / 697 817
INTEHSIS srl
MOLDOVA
bld. Traian 23/1
MD-2060 Kishinev
Phone: +373 (0)22 / 66 4242
Fax: +373 (0)22 / 66 4280
HIFLEX AUTOM.TECHNIEK B.V.
NETHERLANDS
Wolweverstraat 22
NL-2984 CD Ridderkerk
Phone: +31 (0)180 – 46 60 04
Fax: +31 (0)180 – 44 23 55
Koning & Hartman b.v.
NETHERLANDS
Haarlerbergweg 21-23
NL-1101 CH Amsterdam
Phone: +31 (0)20 / 587 76 00
Fax: +31 (0)20 / 587 76 05
Beijer Electronics AS
NORWAY
Postboks 487
NO-3002 Drammen
Phone: +47 (0)32 / 24 30 00
Fax: +47 (0)32 / 84 85 77
Sirius Trading & Services srl
ROMANIA
Aleea Lacul Morii Nr. 3
RO-060841 Bucuresti, Sector 6
Phone: +40 (0)21 / 430 40 06
Fax: +40 (0)21 / 430 40 02
Craft Con. & Engineering d.o.o.
SERBIA
Bulevar Svetog Cara Konstantina 80-86
SER-18106 Nis
Phone: +381 (0)18 / 292-24-4/5
Fax: +381 (0)18 / 292-24-4/5
INEA SR d.o.o.
SERBIA
Izletnicka 10
SER-113000 Smederevo
Phone: +381 (0)26 / 617 163
Fax: +381 (0)26 / 617 163
AutoCont Control s.r.o.
SLOVAKIA
Radlinského 47
SK-02601 Dolny Kubin
Phone: +421 (0)43 / 5868210
Fax: +421 (0)43 / 5868210
CS MTrade Slovensko, s.r.o.
SLOVAKIA
Vajanskeho 58
SK-92101 Piestany
Phone: +421 (0)33 / 7742 760
Fax: +421 (0)33 / 7735 144
INEA d.o.o.
SLOVENIA
Stegne 11
SI-1000 Ljubljana
Phone: +386 (0)1 / 513 8100
Fax: +386 (0)1 / 513 8170
Beijer Electronics AB
SWEDEN
Box 426
SE-20124 Malmö
Phone: +46 (0)40 / 35 86 00
Fax: +46 (0)40 / 35 86 02
Omni Ray AG
SWITZERLAND
Im Schörli 5
CH-8600 Dübendorf
Phone: +41 (0)44 / 802 28 80
Fax: +41 (0)44 / 802 28 28
GTS
TURKEY
Bayraktar Bulvari Nutuk Sok. No:5
TR-34775 Yukari Dudullu-Umraniye-ISTANBUL
Phone: +90 (0)216 526 39 90
Fax: +90 (0)216 526 3995
CSC Automation Ltd.
UKRAINE
4-B, M. Raskovoyi St.
UA-02660 Kiev
Phone: +380 (0)44 / 494 33 55
Fax: +380 (0)44 / 494-33-66
MITSUBISHI
ELECTRIC
FACTORY AUTOMATION
EURASIAN REPRESENTATIVES
Kazpromautomatics Ltd.
Mustafina Str. 7/2
KAZ-470046 Karaganda
Phone: +7 7212 / 50 11 50
Fax: +7 7212 / 50 11 50
KAZAKHSTAN
MIDDLE EAST REPRESENTATIVE
SHERF Motion Techn. Ltd.
ISRAEL
Rehov Hamerkava 19
IL-58851 Holon
Phone: +972 (0)3 / 559 54 62
Fax: +972 (0)3 / 556 01 82
CEG INTERNATIONAL
LEBANON
Cebaco Center/Block A Autostrade DORA
Lebanon - Beirut
Phone: +961 (0)1 / 240 430
Fax: +961 (0)1 / 240 438
AFRICAN REPRESENTATIVE
CBI Ltd.
Private Bag 2016
ZA-1600 Isando
Phone: + 27 (0)11 / 977 0770
Fax: + 27 (0)11 / 977 0761
SOUTH AFRICA
Mitsubishi Electric Europe B.V. /// FA - European Business Group /// Gothaer Straße 8 /// D-40880 Ratingen /// Germany
Tel.: +49(0)2102-4860 /// Fax: +49(0)2102-4861120 /// [email protected] /// www.mitsubishi-automation.com